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WO2022237071A1 - 定位方法及装置、电子设备、存储介质和计算机程序 - Google Patents

定位方法及装置、电子设备、存储介质和计算机程序 Download PDF

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Publication number
WO2022237071A1
WO2022237071A1 PCT/CN2021/125018 CN2021125018W WO2022237071A1 WO 2022237071 A1 WO2022237071 A1 WO 2022237071A1 CN 2021125018 W CN2021125018 W CN 2021125018W WO 2022237071 A1 WO2022237071 A1 WO 2022237071A1
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WIPO (PCT)
Prior art keywords
target object
information
devices
acquisition
collection
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Application number
PCT/CN2021/125018
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English (en)
French (fr)
Inventor
许文航
吴佳飞
张广程
闫俊杰
Original Assignee
浙江商汤科技开发有限公司
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Priority to KR1020227020483A priority Critical patent/KR20220155421A/ko
Publication of WO2022237071A1 publication Critical patent/WO2022237071A1/zh

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/50—Information retrieval; Database structures therefor; File system structures therefor of still image data
    • G06F16/58—Retrieval characterised by using metadata, e.g. metadata not derived from the content or metadata generated manually
    • G06F16/587—Retrieval characterised by using metadata, e.g. metadata not derived from the content or metadata generated manually using geographical or spatial information, e.g. location
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V2201/00—Indexing scheme relating to image or video recognition or understanding
    • G06V2201/07—Target detection

Definitions

  • the present application relates to the technical field of computer vision, involving but not limited to a positioning method and device, electronic equipment, storage media and computer programs.
  • Object detection technology can determine the target object of interest in the image, determine the category and image position of the target object. Object detection techniques can also serve as the basis for object localization tasks.
  • target positioning based on target detection technology is usually based on a binocular camera positioning method with a fixed distance between eyes, but this method has a large positioning error.
  • Embodiments of the present application provide a positioning method and device, electronic equipment, storage media, and computer programs.
  • a positioning method is provided, which is applied to a service node, and the method includes: obtaining the relative positional relationship between the target object and multiple collection devices, and obtaining the location of the multiple collection devices Position information, wherein the plurality of acquisition devices are used for image acquisition of the target object; according to the relative position relationship and the position information, the target object is positioned to obtain the position information of the target object.
  • the method further includes: sending the target features to the multiple acquisition devices in the camera network, so that the multiple capture devices determine according to the target features of the target audience.
  • the positioning of the target object according to the relative position relationship and the position information to obtain the position information of the target object includes: Select two collection devices in the device, wherein the two collection devices form a triangle with the target object; according to the relative positional relationship between the target object and the two collection devices, and the two collection devices The location information of the target object is located, and the location information of the target object is obtained.
  • the relative positional relationship includes declination information, and the relative positional relationship between the target object and the two acquisition devices and the relative positional relationship between the two acquisition devices Position information, locating the target object, and obtaining the position information of the target object, including: determining the distance between the two collection devices according to the position information of the two collection devices; according to the distance and Declination information between the target object and the two acquisition devices to obtain position information of the target object, wherein the declination information represents the deviation of the target object relative to the reference direction of the acquisition devices angle.
  • the obtaining the position information of the target object according to the distance and the deviation angle information between the target object and the two collection devices includes: obtaining the The orientation information of each acquisition device in the two acquisition devices; according to the orientation information of each acquisition device and the declination information between the target object and each acquisition device, determine the first interior angle and sum of the first interior angle in the triangle The second internal angle, wherein, the side where the first internal angle is located and the side where the second internal angle is located pass through the line connecting the two collection devices; according to the first internal angle, the second internal angle and the distance , to obtain the location information of the target object.
  • the method further includes: marking the track of the target object on an electronic map according to the location information of the target object.
  • the acquiring the relative positional relationship between the target object and the plurality of acquisition devices respectively includes: acquiring the acquisition images of the plurality of acquisition devices; determining the position of the target object in the An image position in the captured image of each capture device; based on the image position, a relative positional relationship between the target object and each capture device is obtained.
  • the location information includes latitude and longitude coordinates; the service node is a control device of a camera network, or the service node is any collection device in the camera network.
  • An aspect of the embodiments of the present application provides a positioning method applied to a collection device, the method comprising: acquiring a collection image; based on the collection image, determining a relative positional relationship between a target object and the collection device; sending the relative positional relationship between the target object and the collection device to a service node, wherein the service node is configured to use the relative positional relationship between the target object and multiple collection devices and the Collecting the location information of the device, locating the target object, and obtaining the location information of the target object.
  • the relative positional relationship includes declination information
  • determining the relative positional relationship between the target object and the acquisition device based on the acquired image includes: performing target detection on the image to obtain the image position of the target object in the collected image; based on the image position of the target object, determining the declination information between the target object and the acquisition device, wherein the The deflection angle information represents a deviation angle of the target object relative to a reference direction of the acquisition device.
  • the method further includes: receiving the target feature sent by the service node; determining the target object in the collected image according to the target feature; or acquiring annotation information input by the user ; Determining the target object in the collected image according to the annotation information.
  • a positioning device which is applied to a service node, and the device includes:
  • An acquisition module configured to acquire a relative positional relationship between the target object and multiple acquisition devices, and acquire positional information of the plurality of acquisition devices, wherein the plurality of acquisition devices are used for image acquisition of the target object;
  • the positioning module is configured to locate the target object according to the relative position relationship and the position information, and obtain the position information of the target object.
  • the device further includes:
  • the sending module is configured to send the target features to the plurality of acquisition devices in the camera network, so that the plurality of acquisition devices determine the target object in the captured image according to the target features.
  • the positioning module is configured to select two collection devices from the plurality of collection devices, wherein the two collection devices form a triangle with the target object; according to the The relative positional relationship between the target object and the two collection devices and the position information of the two collection devices are used to locate the target object and obtain the position information of the target object.
  • the relative position relationship includes declination information
  • the positioning module is configured to determine the distance between the two collection devices according to the position information of the two collection devices ; According to the distance and the deviation angle information between the target object and the two acquisition devices, the position information of the target object is obtained, wherein the deviation angle information indicates that the target object is relative to the acquisition device The angle of deviation from the base orientation of the device.
  • the positioning module is configured to acquire the orientation information of each of the two acquisition devices; according to the orientation information of each of the acquisition devices and the relationship between the target object and The declination information between each acquisition device determines the first interior angle and the second interior angle in the triangle, wherein the side where the first interior angle is located and the side where the second interior angle is located pass through the two acquisition devices The connection line of the device; according to the first interior angle, the second interior angle and the distance, the position information of the target object is obtained.
  • the device further includes: a marking module configured to mark the track of the target object on the electronic map according to the location information of the target object.
  • the acquiring module is configured to acquire the captured images of the multiple capturing devices; determine the image position of the target object in the captured images of each capturing device; based on The image position acquires a relative positional relationship between the target object and each acquisition device.
  • the location information includes latitude and longitude coordinates; the service node is a control device of a camera network, or the service node is any collection device in the camera network.
  • a positioning device is provided, and the device includes:
  • An acquisition module configured to acquire the collected image
  • a determining module based on the collected image, determines the relative positional relationship between the target object and the collection device
  • the sending module is configured to send the relative positional relationship between the target object and the collection device to a service node, wherein the service node is configured to use the relative positional relationship between the target object and a plurality of collection devices respectively and the location information of the plurality of collection devices, and locate the target object to obtain the location information of the target object.
  • the relative position relationship includes declination information
  • the determining module is configured to perform target detection on the collected image to obtain an image of the target object in the collected image position; based on the image position of the target object, determine the deviation angle information between the target object and the acquisition device, wherein the deviation angle information represents the position of the target object relative to the reference direction of the acquisition device Angle of deviation.
  • the determining module is further configured to receive the target feature sent by the service node; determine the target object in the collected image according to the target feature; or, obtain the user input Labeling information: determining the target object in the collected image according to the labeling information.
  • An aspect of the embodiments of the present application provides an electronic device, including: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to call the instructions stored in the memory to execute the above method.
  • An aspect of the embodiments of the present application provides a computer-readable storage medium, on which computer program instructions are stored, and when the computer program instructions are executed by a processor, the foregoing method is implemented.
  • An aspect of the embodiments of the present application provides a computer program, including computer readable code, when the computer readable code is run in an electronic device, a processor in the electronic device executes any one of the above The positioning method described in the item.
  • the location information of the device is used to locate the target object and obtain the location information of the target object. In this way, the positioning of the target object can be realized through the camera network formed by multiple acquisition devices, and the accuracy of positioning can be improved.
  • FIG. 1 shows a scene diagram of interaction between a service node and multiple collection devices according to an embodiment of the present application.
  • FIG. 2 shows a first flowchart of the positioning method according to the embodiment of the present application.
  • FIG. 3 shows the second flowchart of the positioning method according to the embodiment of the present application.
  • FIG. 4 shows a schematic diagram of camera network positioning according to an embodiment of the present application.
  • FIG. 5 shows a first block diagram of a positioning device according to an embodiment of the present application.
  • FIG. 6 shows a second block diagram of a positioning device according to an embodiment of the present application.
  • FIG. 7 shows a first block diagram of an electronic device according to an embodiment of the present application.
  • FIG. 8 shows a second block diagram of an electronic device according to an embodiment of the present application.
  • the positioning solutions provided in the embodiments of the present application can be applied to scenarios such as positioning systems, multi-camera networking, and edge nodes.
  • scenarios such as positioning systems, multi-camera networking, and edge nodes.
  • multi-point cameras can be used to arrange a camera network, and the location information of the target object can be obtained in real time through the camera network, and can be marked on the electronic map in real time.
  • the network of multiple cameras can be used to realize the functions of target tracking and positioning, which can be applied to target positioning in different scenarios.
  • FIG. 1 shows a scene diagram of interaction between a service node and multiple collection devices according to an embodiment of the present application.
  • the collection device may be an edge device
  • the service node may be a cloud device, or a central device or a control device among multiple edge devices.
  • the service node can perform information interaction with each collection device, and the service node can summarize information of multiple collection devices, such as obtaining orientation information and/or location information of multiple collection devices (collection device 1 to collection device 5).
  • the collection device may have processing capabilities, and may determine the relative positional relationship between the target object and the collection device based on the collected images, and the service node may send the relative positional relationship between the target object and the multiple collection devices according to the relative positional relationship between the target object and the multiple collection devices. Positional relationship, to determine the position of the target object.
  • the service node may obtain the collected images of multiple collection devices, and determine the location of the target object through the collection images sent by the multiple collection devices. In this way, the influence of the insufficient perception capability of the edge device itself can be reduced, effective association of information of each edge device can be realized, and the positioning of the target object can be realized.
  • the positioning method provided in the embodiment of the present application may be executed by a terminal device, a server or other types of electronic devices, wherein the terminal device may be user equipment (User Equipment, UE), mobile device, user terminal, cellular phone, cordless phone, personal Digital assistants (Personal Digital Assistant, PDA), handheld devices, computing devices, in-vehicle devices, wearable devices, etc.
  • the data processing method may be implemented by a processor invoking computer-readable instructions stored in a memory.
  • the method may be performed by a server.
  • Fig. 2 shows the flowchart one of the location method of the embodiment of the present application, as shown in Fig. 2, described location method is applied in the service node, comprises:
  • Step S11 acquiring the relative positional relationship between the target object and the plurality of acquisition devices, and acquiring the position information of the plurality of acquisition devices.
  • multiple acquisition devices can form a camera network, and different acquisition devices can communicate with each other, and information sharing among different acquisition devices can be realized.
  • the collection device may be a device with an image collection function, for example, the collection device may be a terminal device, an edge device, a server, etc. with a shooting function.
  • the collection device in the camera network can collect images of target objects within the field of view.
  • the collection device can determine the relative positional relationship between the target object and itself according to the collected images.
  • Target objects can be people or objects.
  • the service node can obtain the relative positional relationship determined by multiple acquisition devices in the camera network, and one acquisition device can correspond to a relative positional relationship.
  • the service node may also obtain location information of multiple collection devices, for example, may obtain pre-stored location information of multiple collection devices in the storage unit, or may obtain location information of the collection devices transmitted by the collection device.
  • the relative positional relationship can be understood as the position of the target object relative to the collection device based on the collection device, for example, the distance information and/or deviation angle information of the collection device relative to the collection device.
  • the deflection angle information may represent the deviation angle of the target object relative to the reference direction of the collection device, that is, it may be understood that the deflection angle information may represent the deviation angle of the target object from the reference direction of the collection device.
  • the reference directions of different acquisition devices may be the same or different, and may be set according to actual application scenarios. For example, the true north direction can be regarded as 0° (degrees), and the horizontal direction can be divided into 360° in the clockwise direction, and the reference direction of the acquisition device can be uniformly set as the true north direction.
  • the declination information can be regarded as the The azimuth angle of the acquisition device.
  • the reference direction of the collection device can be set as the azimuth of the collection device's orientation, and the deviation angle information at this time can be regarded as the deviation angle between the target object and the collection device's orientation.
  • the service node can be the control device of the camera network, such as a server, a control terminal and other equipment, through which the information of multiple acquisition devices can be summarized and some control instructions can be issued to the multiple acquisition devices.
  • the service node can be any collection device in the camera network, so that the information of multiple collection devices can be aggregated through one collection device in the camera network, and the control of other collection devices in the camera network can be realized , applicable to various application scenarios.
  • Step S12 according to the relative position relationship and the position information, locate the target object, and obtain the position information of the target object.
  • the service node may locate the target object according to the relative positional relationship between the target object and multiple collection devices and the location information of the multiple collection devices. For example, two collection devices can be selected arbitrarily from among multiple collection devices, or, among multiple collection devices, two collection devices corresponding to the first obtained relative positional relationship can be selected, and according to the relative position relationship of the target object The position information of the target object is calculated from the relative positional relationship between the collection devices and the position information of the two collection devices.
  • multiple location information of the target object can be obtained according to the relative positional relationship between every two collection devices and the target object in the multiple collection devices, and the corresponding position information of the two collection devices, for example, among the three collection devices , can be combined into two groups, and the relative positional relationship between the two acquisition devices and the target object in each group and the position information of the two acquisition devices can determine a position information of the target object. Then take the average of multiple position information of the target object, and the obtained average value is the final position information of the target object.
  • each acquisition device can be used as a vertex, and the ray emitted from the vertex can be determined according to the deflection angle information between the target object and each acquisition device, and then the two rays emitted from the vertices of the two acquisition devices can intersect at One point, the position of the intersection point can be regarded as the position of the target object, and the position information of the target object is obtained to realize the positioning of the target object.
  • each collecting device can be used as a vertex, and a circle centered on each vertex can be determined according to the distance information between the target object and each collecting device, and then the circles centered on the vertices of the two collecting devices can intersect at One point, the position of the intersection point can be regarded as the position of the target object, and the position information of the target object is obtained to realize the positioning of the target object.
  • the positioning of the target object can be realized through a camera network composed of multiple acquisition devices.
  • the acquisition device can be used as an edge node in the edge device scenario, so that the information of each edge device can be effectively associated, compared with some solutions in the related art that are difficult to effectively use the information of the edge device due to the insufficient perception ability of the edge device itself , can enhance the effective utilization of information of edge devices.
  • the service node may also acquire the collected images of multiple collection devices, and further determine the image position of the target object in the collected images of each collection device. Then, based on the image position, the relative positional relationship between the target object and each acquisition device is obtained.
  • the service node can perform target detection on the collected images.
  • some target detection algorithms can be used, such as YOLO, SSD and other target detection algorithms, to perform target detection on the collected images to obtain the target object in the collected image image location in .
  • the relative positional relationship between the target object and the collected image can be determined according to the image position of the target object.
  • the corresponding relationship between each pixel position in the captured image and the offset angle of its own standard direction can be preset. Based on the corresponding relationship, the pixel position where the center of the target object is located and the corresponding offset angle can be determined. , that is, the declination angle information of the target object can be obtained.
  • the collected image may be a depth image
  • the distance information between the target object and the collection device may be determined according to the image depth of the image position where the target object is located.
  • the service node can quickly determine the relative positional relationship between the target object and each collection device.
  • two acquisition devices when locating the target object according to the relative positional relationship between the target object and the plurality of acquisition devices and the position information of the plurality of acquisition devices, two acquisition devices may be selected from the plurality of acquisition devices, The two acquisition devices can form a triangle with the target object, and then locate the target object according to the relative positional relationship between the target object and the two acquisition devices and the position information of the two acquisition devices, and obtain the position of the target object information. For example, it is possible to randomly select two collection devices among multiple collection devices, and then judge whether the two collection devices can Form a triangle with the target object.
  • the first connection line between the two collection devices can be established according to the position information of the two collection devices, and then according to the deviation angle information of the target object relative to the collection device, the distance between the target object and the two collection devices can be judged.
  • the second connection lines of the target object and the first connection line have angles other than 0, if the second connection lines between the target object and the two collection devices have angles other than 0 with the first connection line , it can be considered that the two acquisition devices can form a triangle with the target object on the same plane, otherwise, it can be considered that the two acquisition devices cannot form a triangle with the target object on the same plane.
  • the position information of the target object can be calculated further according to the relative positional relationship between the target object and the two acquisition devices, and the position information of the two acquisition devices, In this way, precise positioning of the target object can be achieved.
  • the above-mentioned relative position relationship includes declination information.
  • the distance between the two collection devices can be determined first according to the position information of the two collection devices, and then according to the distance between the two collection devices and the distance between the target object and the two collection devices
  • the declination information between the two acquisition devices can be used to obtain the position information of the target object.
  • the distance formula can be used to calculate the distance between the two acquisition devices according to the position information of the two acquisition devices, and then the triangulation formula can be used to calculate the distance between the two acquisition devices according to the relative Based on the deflection angle information of the two collecting devices and the distance between the two collecting devices, the position coordinates of the target object are calculated.
  • the position coordinates of the target object can be obtained through simple calculation, thereby improving the efficiency of positioning.
  • the camera network is less restricted by the scene, which can improve the accuracy of positioning.
  • the declination information between the target object and the collection device may be the azimuth angle of the target object, so that the two interior angles of the triangle can be determined directly according to the declination information between the target object and the two collection devices, Further using the triangular positioning formula, the target object can be located according to the two interior angles of the triangle and the distance between the two acquisition devices.
  • the deviation angle information between the target object and the collection device may be the deviation angle between the direction of the target object and the collection device, so that the orientation information of each of the two collection devices can be obtained, and according to each The orientation information of each acquisition device and the declination information between the target object and each acquisition device determine the first interior angle and the second interior angle in the triangle, for example, according to the orientation information of each acquisition device and the target object and each The deflection angle information between the collection devices is used to determine the orientation information of the target object, and then the first interior angle and the second interior angle in the triangle are determined according to the orientation information of the target object relative to the two collection devices.
  • the position information of the target object can be obtained, for example, the first inner angle, the second angle and the distance between the two acquisition devices can be brought into the triangle
  • the positioning formula can obtain the position information of the target object.
  • the side where the first interior angle is located and the side where the second interior angle is located pass through the line connecting the two collection devices. In this way, fast and precise positioning of the target object can be achieved.
  • the acquisition device may be configured with a Global Navigation Satellite System (Global Navigation Satellite System, GNSS) and an electronic compass sensor, so that the acquisition device may have the ability to perceive its own position and orientation.
  • the acquisition device can obtain high-precision geographic coordinates through the differential or static positioning algorithm of the global positioning system.
  • the position of the collection device may not change any more, so that after the collection device is installed, the location information of the collection device may be saved in the collection device or in the in the service node.
  • the above location information may include latitude and longitude coordinates.
  • the longitude and latitude coordinates of the target object can be obtained through the declination information of the target object relative to the multiple collection devices and the longitude and latitude coordinates of the multiple collection devices.
  • the positioning solution provided by the embodiment of the present application can obtain the precise geographic coordinates of the target object, so that the location information obtained by positioning can be unified, which is convenient for other devices to use, and reduces the difficulty of location sharing due to the inconsistency of the coordinate system of the location information. In this case, it reduces the need for coordinate system or location information conversion operations during location sharing, and improves the efficiency of location information sharing.
  • multiple acquisition devices in the camera network can identify the same target object, so as to realize target tracking and real-time positioning of the same target object.
  • the service node may send the target feature to multiple acquisition devices in the camera network, so that the multiple acquisition devices determine the target object in the captured image according to the target feature.
  • the target feature can indicate the target object. After multiple acquisition devices receive the target feature, they can match the target feature with the image features of multiple objects in the collected image and the target feature to determine the target object among the multiple objects, so that it can further target Target object for target tracking and positioning.
  • the target feature may be a feature value of the target object.
  • the service node can obtain the feature value of the target object from the feature database, wherein the feature value of the target object can be extracted by using a deep learning network.
  • the service node may obtain the target feature corresponding to the user instruction from the feature database according to the user instruction.
  • the user can click on an image or an image area displayed on the display interface of the service node, and the service node can use the deep learning network to perform feature extraction on the image or image area clicked by the user to obtain the target feature .
  • the service node when used as the collection device, it may perform feature extraction on one or more objects appearing in the current collection screen to obtain target features.
  • the track of the target object can also be marked on the electronic map according to the position information of the target object.
  • the information is connected sequentially to obtain the trajectory of the target object.
  • the trajectory of the target object can be marked with special colored markers, line segments, symbols, etc., so that the location or motion trajectory of the target object can be intuitively reflected on the electronic map for subsequent analysis by the user.
  • the trajectory of the target object can also be integrated, that is, it can be understood as marking the historical trajectory and current trajectory of the target object on the electronic map, and the locations that the target user has passed many times can be highlighted by color Annotation, which can better facilitate user analysis.
  • Fig. 3 shows the flowchart 2 of the positioning method of the embodiment of the present application. As shown in Fig. 3, the positioning method is applied to the acquisition device in the camera network, including:
  • Step S21 acquiring the collected image.
  • the camera network may include multiple acquisition devices.
  • Each acquisition device can perform image acquisition for a scene in its field of view.
  • the position of each collection device can be reasonably set according to actual application scenarios or requirements.
  • each collection device can be used as a vertex of a polygon, and multiple collection devices can form a polygon.
  • Any two acquisition devices can communicate through wireless or wired network.
  • multiple collection devices can also be arranged at equal intervals.
  • Each acquisition device can take an object entering the field of view as a target object, and perform image acquisition on the target object to obtain an acquired image.
  • Step S22 based on the collected image, determine the relative positional relationship between the target object and the collection device.
  • the acquisition device can perform target detection on the acquired image to obtain the image position of the target object in the acquired image, and then determine the relative positional relationship between the target object and the acquisition device according to the image position of the target object.
  • the acquisition device can perform target detection on the captured image.
  • some target detection algorithms such as YOLO, SSD, and other target detection algorithms, can be used to perform target detection on the captured image to obtain the image position of the target object in the captured image. . Then the relative positional relationship between the target object and the captured image can be determined based on the image position of the target object.
  • the relative positional relationship may include declination information.
  • the deflection angle information is used to represent the deviation angle of the target object relative to the reference direction of the acquisition device.
  • the corresponding relationship between each pixel position in the acquired image and the offset angle of its own standard direction can be preset, and then according to the image position of the target object, determine The pixel position corresponding to the center point of the target object, and then according to the correspondence between each pixel position and the offset angle of its own standard direction, the offset angle corresponding to the pixel position corresponding to the center point of the target object can be determined, that is, The declination information of the target object.
  • the relative position relationship may also include distance information
  • the acquired image may be a depth image.
  • the distance information between the target object and the acquisition device may be determined according to the image depth of the image position where the target object is located.
  • the collection device can be rotated within a certain angle range, that is, the orientation of the collection device can be changed within a certain angle range, so that the field of view of the image collection by the collection device can be increased.
  • the deviation angle information of the target object relative to the acquisition device may also be determined based on the image position of the target object and the orientation of the acquisition device. For example, an offset angle of each pixel position of the captured image relative to the central pixel position may be preset, wherein the central pixel position may correspond to a reference direction toward which the capturing device is oriented.
  • the offset angle of the target object can be obtained by adding the orientation of the acquisition device to the offset angle of the pixel position corresponding to the center point relative to the center pixel position.
  • the acquisition device may be configured with an electronic compass sensor, and may obtain its own orientation through the electronic compass sensor. In this way, the acquisition device can quickly and accurately determine the deflection angle information of the target object, and is suitable for application scenarios where the acquisition device can rotate by itself.
  • Step S23 sending the relative positional relationship between the target object and the collection device to the service node.
  • the acquisition device may send the relative positional relationship between the target object and itself to the service node.
  • the service node can receive the relative positional relationship sent by multiple collection devices, and further locate the target object according to the relative positional relationship between the target object and multiple collection devices, as well as the location information of multiple collection devices, and obtain the target object location information.
  • the collection device of the camera network can be used to collect images of the target object to realize the positioning of the target object.
  • the positioning method is simple and applicable to various application scenarios. For example, in relatively open scenes such as squares, parks, and classrooms, the geographic coordinates of the target object can be obtained in real time through a camera network, and marked on the electronic map in real time.
  • the collection device may also receive the target feature sent by the service node, and then determine the target object in the collected image according to the target feature.
  • the service node can send the target feature to multiple acquisition devices in the camera network through a wired or wireless network, and the acquisition device can match the target feature with the image feature of at least one object in the captured image to determine the target corresponding to the target feature object.
  • the service node may determine the target feature according to the captured images acquired by itself or user instructions. In this way, multiple acquisition devices can identify the same target object according to the target features issued by the service node, thereby realizing the tracking of the target object.
  • the collection device may also acquire annotation information input by the user, and then determine the target object in the collected image according to the annotation information.
  • the user may respectively input annotation information used to indicate the target object into at least two acquisition devices, and then the at least two acquisition devices may determine the target object indicated by the annotation information in the captured image according to the annotation information.
  • the annotation information may include an image of the target object, image features, etc., and the collection device may match the collected image with the image included in the annotation information, or match the image features included in the annotation information with the image features of the collected image to determine the target object.
  • the acquisition device may also acquire the image or image area selected by the user in the display interface, and the image or image area selected by the user may be used as annotation information for indicating the target user. In this way, multiple acquisition devices can identify the same target object according to the labeling information input by the user, so as to realize the tracking of the target object.
  • the target object may appear in the field of view of some collection devices in the camera network, and this part of the collection devices can identify the target object in the collected images.
  • some acquisition devices in the camera network may have no target object in the field of view of image acquisition due to reasons such as orientation or occlusion, so that the target object cannot be identified.
  • For a collection device that does not have a target object in the field of view it can continue to shoot the scene in the field of view, so as to obtain information in the scene in real time.
  • FIG. 4 shows a schematic diagram of camera network positioning according to an embodiment of the present application.
  • a camera network can be set up in a square.
  • the camera network can include 4 cameras (acquisition devices).
  • Each camera can be configured with GNSS and electronic compass sensors, which can obtain its own geographic coordinates and orientation information.
  • the geographic coordinates of camera 1 are (x1, y1)
  • the geographic coordinates of camera 2 are (x2, y2)
  • the geographic coordinates of camera 3 are (x3, y3)
  • the geographic coordinates of camera 4 are (x4, y4).
  • the service node of the camera network can deliver the characteristic value of the target object to the camera, and the cameras in the camera network can automatically identify and track the target object.
  • at least two cameras in the camera network may receive identification information input by the user, and identify and track the target object according to the identification information input by the user.
  • Camera 3 in the camera network cannot collect images of the target object due to occlusion.
  • Camera 1, Camera 2, and Camera 4 in the camera network can collect images of the target object, determine the image position of the target object in the captured image, and then calculate the declination angle of the target object relative to the camera based on the image position of the target object information.
  • the service node obtains the declination information calculated by camera 1, camera 2 and camera 4 through the network, the geographic coordinates and orientation information of the cameras, and then can randomly select two cameras that can form a triangle with the target object, such as camera 1 and camera 2.
  • the object azimuth a11 (declination information) of the target object relative to camera 1 the object azimuth a21 (declination information) of the target object relative to camera 2, and the geographic coordinates of camera 1 and camera 2
  • calculate the The location information, the longitude and latitude coordinates (x, y) of the target object can be obtained.
  • the reference direction of camera 1 can be due east
  • the reference direction of camera 2 can be due west.
  • the declination information obtained by camera 1 and camera 2 is the two interior angles of a triangle. According to the relationship of trigonometric functions, it can be calculated The location information of the target object. Further, the location information or moving track of the target object can be marked and displayed on the electronic map, as shown by the extended curve at the target object in the figure.
  • the camera can be an edge node deployed on the edge of the square.
  • This example combines the usage scenarios of edge nodes to provide a positioning method based on multi-camera interconnection, which can obtain the geographic coordinates (latitude and longitude coordinates) of the target object, realize the unification of coordinates in geographic space, and facilitate the integration and processing of other devices or platforms. It is convenient to automatically mark the position on the electronic map. And the positioning method is simple, and can be applied to target positioning in different scenarios.
  • embodiments of the present application also provide positioning devices, electronic equipment, computer-readable storage media, and programs, all of which can be used to implement any of the positioning methods provided in the embodiments of the present application.
  • positioning devices electronic equipment, computer-readable storage media, and programs, all of which can be used to implement any of the positioning methods provided in the embodiments of the present application.
  • Fig. 5 shows a block diagram 1 of a positioning device according to an embodiment of the present application. As shown in Fig. 5, the device includes:
  • the acquisition module 31 is configured to acquire the relative positional relationship between the target object and the plurality of acquisition devices respectively, and acquire the position information of the plurality of acquisition devices, wherein the plurality of acquisition devices are used for image acquisition of the target object ;
  • the positioning module 32 is configured to locate the target object according to the relative position relationship and the position information, and obtain the position information of the target object.
  • the device further includes:
  • the sending module is configured to send the target features to the plurality of acquisition devices in the camera network, so that the plurality of acquisition devices determine the target object in the captured image according to the target features.
  • the positioning module 32 is configured to select two collection devices among the plurality of collection devices, wherein the two collection devices form a triangle with the target object; according to The relative positional relationship between the target object and the two collection devices, and the position information of the two collection devices are used to locate the target object to obtain the position information of the target object.
  • the relative position relationship includes declination information
  • the positioning module 32 is configured to determine the distance between the two collection devices according to the position information of the two collection devices. distance; according to the distance and the deviation angle information between the target object and the two acquisition devices, the position information of the target object is obtained, wherein the deviation angle information indicates that the target object is relative to the The deviation angle of the reference direction of the collection device.
  • the positioning module 32 is configured to obtain the orientation information of each of the two acquisition devices; according to the orientation information of each of the acquisition devices and the target object Declination information with each collection device, determine the first interior angle and the second interior angle in the triangle, wherein, the side where the first interior angle is located and the side where the second interior angle is located pass through the two The connection line of the collection device; according to the first interior angle, the second interior angle and the distance, the position information of the target object is obtained.
  • the device further includes: a marking module configured to mark the track of the target object on the electronic map according to the location information of the target object.
  • the acquiring module 31 is configured to acquire the captured images of the multiple capturing devices; determine the image position of the target object in the captured images of each capturing device; Based on the image position, a relative positional relationship between the target object and each acquisition device is acquired.
  • the location information includes latitude and longitude coordinates; the service node is a control device of a camera network, or the service node is any collection device in the camera network.
  • Fig. 6 shows a block diagram 2 of a positioning device according to an embodiment of the present application. As shown in Fig. 6, the device includes:
  • the acquisition module 41 is configured to acquire the collected image
  • the determination module 42 is configured to determine the relative positional relationship between the target object and the acquisition device based on the acquired image
  • the sending module 43 is configured to send the relative positional relationship between the target object and the collection device to a service node, wherein the service node is configured to relationship and the location information of the plurality of acquisition devices, locate the target object, and obtain the location information of the target object.
  • the relative position relationship includes declination information
  • the determining module 42 is configured to perform target detection on the collected image to obtain the position of the target object in the collected image.
  • image position based on the image position of the target object, determine the deviation angle information between the target object and the acquisition device, wherein the deviation angle information represents the reference direction of the target object relative to the acquisition device angle of deviation.
  • the determining module 42 is further configured to receive the target feature sent by the service node; determine the target object in the collected image according to the target feature; or, obtain user input the annotation information; and determine the target object in the collected image according to the annotation information.
  • the functions or modules included in the device provided in the embodiments of the present application can be used to execute the methods described in the above method embodiments, and the actual implementation can refer to the descriptions of the above method embodiments.
  • the embodiment of the present application also proposes a computer-readable storage medium, on which computer program instructions are stored, and when the computer program instructions are executed by a processor, the foregoing method is realized.
  • the computer readable storage medium may be a non-transitory computer readable storage medium.
  • the embodiment of the present application also proposes an electronic device, including: a processor; a memory for storing instructions executable by the processor; wherein the processor is configured to invoke the instructions stored in the memory to execute the above method.
  • the embodiment of the present application also proposes a computer program, including computer readable codes, and when the computer readable codes are run in the electronic device, the processor in the electronic device executes and realizes the foregoing method.
  • the embodiment of the present application also provides a computer program product, including computer readable code, when the computer readable code is run on the device, the processor in the device executes instructions for implementing the positioning method provided in any of the above embodiments .
  • the embodiment of the present application also provides another computer program product, which is used to store computer-readable instructions.
  • the computer executes the operation of the positioning method provided in any of the above-mentioned embodiments.
  • Electronic devices may be provided as terminals, servers, or other forms of devices.
  • FIG. 7 shows a first block diagram of an electronic device according to an embodiment of the present application.
  • the electronic device 800 may be a terminal such as a mobile phone, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, a fitness device, or a personal digital assistant.
  • electronic device 800 may include one or more of the following components: processing component 802, memory 804, power supply component 806, multimedia component 808, audio component 810, input/output (I/O) interface 812, sensor component 814 , and the communication component 816.
  • the processing component 802 generally controls the overall operations of the electronic device 800, such as those associated with display, telephone calls, data communications, camera operations, and recording operations.
  • the processing component 802 may include one or more processors 820 to execute instructions to complete all or part of the steps of the above method. Additionally, processing component 802 may include one or more modules that facilitate interaction between processing component 802 and other components. For example, processing component 802 may include a multimedia module to facilitate interaction between multimedia component 808 and processing component 802 .
  • the memory 804 is configured to store various types of data to support operations at the electronic device 800 . Examples of such data include instructions for any application or method operating on the electronic device 800, contact data, phonebook data, messages, pictures, videos, and the like.
  • the memory 804 can be implemented by any type of volatile or non-volatile storage device or their combination, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable Programmable Read Only Memory (EPROM), Programmable Read Only Memory (PROM), Read Only Memory (ROM), Magnetic Memory, Flash Memory, Magnetic or Optical Disk.
  • SRAM static random access memory
  • EEPROM electrically erasable programmable read-only memory
  • EPROM erasable Programmable Read Only Memory
  • PROM Programmable Read Only Memory
  • ROM Read Only Memory
  • Magnetic Memory Flash Memory
  • Magnetic or Optical Disk Magnetic Disk
  • the power supply component 806 provides power to various components of the electronic device 800 .
  • Power components 806 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for electronic device 800 .
  • the multimedia component 808 includes a screen providing an output interface between the electronic device 800 and the user.
  • the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from a user.
  • the touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensor may not only sense a boundary of a touch or swipe action, but also detect duration and pressure associated with the touch or swipe action.
  • the multimedia component 808 includes a front camera and/or a rear camera. When the electronic device 800 is in an operation mode, such as a shooting mode or a video mode, the front camera and/or the rear camera can receive external multimedia data. Each front camera and rear camera can be a fixed optical lens system or have focal length and optical zoom capability.
  • the audio component 810 is configured to output and/or input audio signals.
  • the audio component 810 includes a microphone (MIC), which is configured to receive external audio signals when the electronic device 800 is in operation modes, such as call mode, recording mode and voice recognition mode. Received audio signals may be further stored in memory 804 or sent via communication component 816 .
  • the audio component 810 also includes a speaker for outputting audio signals.
  • the I/O interface 812 provides an interface between the processing component 802 and a peripheral interface module, which may be a keyboard, a click wheel, a button, and the like. These buttons may include, but are not limited to: a home button, volume buttons, start button, and lock button.
  • Sensor assembly 814 includes one or more sensors for providing status assessments of various aspects of electronic device 800 .
  • the sensor component 814 can detect the open/closed state of the electronic device 800, the relative positioning of components, such as the display and the keypad of the electronic device 800, the sensor component 814 can also detect the electronic device 800 or a Changes in position of components, presence or absence of user contact with electronic device 800 , electronic device 800 orientation or acceleration/deceleration and temperature changes in electronic device 800 .
  • Sensor assembly 814 may include a proximity sensor configured to detect the presence of nearby objects in the absence of any physical contact.
  • Sensor assembly 814 may also include an optical sensor, such as a complementary metal-oxide-semiconductor (CMOS) or charge-coupled device (CCD) image sensor, for use in imaging applications.
  • CMOS complementary metal-oxide-semiconductor
  • CCD charge-coupled device
  • the sensor component 814 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor or a temperature sensor.
  • the communication component 816 is configured to facilitate wired or wireless communication between the electronic device 800 and other devices.
  • the electronic device 800 can access a wireless network based on a communication standard, such as a wireless network (WiFi), a second generation mobile communication technology (2G) or a third generation mobile communication technology (3G), or a combination thereof.
  • the communication component 816 receives broadcast signals or broadcast related information from an external broadcast management system via a broadcast channel.
  • the communication component 816 also includes a near field communication (NFC) module to facilitate short-range communication.
  • the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, Infrared Data Association (IrDA) technology, Ultra Wide Band (UWB) technology, Bluetooth (BT) technology and other technologies.
  • RFID Radio Frequency Identification
  • IrDA Infrared Data Association
  • UWB Ultra Wide Band
  • Bluetooth Bluetooth
  • electronic device 800 may be implemented by one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable A programmable gate array (FPGA), controller, microcontroller, microprocessor or other electronic component implementation for performing the methods described above.
  • ASICs application specific integrated circuits
  • DSPs digital signal processors
  • DSPDs digital signal processing devices
  • PLDs programmable logic devices
  • FPGA field programmable A programmable gate array
  • controller microcontroller, microprocessor or other electronic component implementation for performing the methods described above.
  • a non-volatile computer-readable storage medium such as the memory 804 including computer program instructions, which can be executed by the processor 820 of the electronic device 800 to implement the above method.
  • FIG. 8 shows a second block diagram of an electronic device according to an embodiment of the present application.
  • electronic device 1900 may be provided as a server.
  • electronic device 1900 includes processing component 1922 , which further includes one or more processors, and a memory resource represented by memory 1932 for storing instructions executable by processing component 1922 , such as application programs.
  • the application programs stored in memory 1932 may include one or more modules each corresponding to a set of instructions.
  • the processing component 1922 is configured to execute instructions to perform the above method.
  • Electronic device 1900 may also include a power supply component 1926 configured to perform power management of electronic device 1900, a wired or wireless network interface 1950 configured to connect electronic device 1900 to a network, and an input-output (I/O) interface 1958 .
  • the electronic device 1900 can operate based on the operating system stored in the memory 1932, such as the Microsoft server operating system (Windows ServerTM), the graphical user interface-based operating system (Mac OS XTM) introduced by Apple Inc., and the multi-user and multi-process computer operating system (UnixTM). ), a free and open source Unix-like operating system (LinuxTM), an open source Unix-like operating system (FreeBSDTM), or similar.
  • a non-transitory computer-readable storage medium such as a memory 1932 including computer program instructions, which can be executed by the processing component 1922 of the electronic device 1900 to implement the above-mentioned method.
  • Embodiments of the present application may be systems, methods and/or computer program products.
  • a computer program product may include a computer-readable storage medium loaded with computer-readable program instructions for causing a processor to implement various aspects of the embodiments of the present application.
  • a computer readable storage medium may be a tangible device that can retain and store instructions for use by an instruction execution device.
  • a computer readable storage medium may be, for example, but is not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing.
  • Non-exhaustive list of computer-readable storage media include: portable computer diskettes, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), or flash memory), static random access memory (SRAM), compact disc read only memory (CD-ROM), digital versatile disc (DVD), memory stick, floppy disk, mechanically encoded device, such as a printer with instructions stored thereon A hole card or a raised structure in a groove, and any suitable combination of the above.
  • RAM random access memory
  • ROM read-only memory
  • EPROM erasable programmable read-only memory
  • flash memory static random access memory
  • SRAM static random access memory
  • CD-ROM compact disc read only memory
  • DVD digital versatile disc
  • memory stick floppy disk
  • mechanically encoded device such as a printer with instructions stored thereon
  • a hole card or a raised structure in a groove and any suitable combination of the above.
  • computer-readable storage media are not to be construed as transient signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (e.g., pulses of light through fiber optic cables), or transmitted electrical signals.
  • Computer-readable program instructions described herein may be downloaded from a computer-readable storage medium to a respective computing/processing device, or downloaded to an external computer or external storage device over a network, such as the Internet, a local area network, a wide area network, and/or a wireless network.
  • the network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and/or edge servers.
  • a network adapter card or a network interface in each computing/processing device receives computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in each computing/processing device .
  • Computer program instructions for performing the operations of the present application may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, state setting data, or Source or object code written in any combination, including object-oriented programming languages—such as Smalltalk, C++, etc., and conventional procedural programming languages—such as the “C” language or similar programming languages.
  • Computer readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer, or entirely on the remote computer or server implement.
  • the remote computer can be connected to the user computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (such as via the Internet using an Internet service provider). connect).
  • LAN local area network
  • WAN wide area network
  • an electronic circuit such as a programmable logic circuit, field programmable gate array (FPGA), or programmable logic array (PLA)
  • FPGA field programmable gate array
  • PDA programmable logic array
  • These computer-readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine such that when executed by the processor of the computer or other programmable data processing apparatus , producing an apparatus for realizing the functions/actions specified in one or more blocks in the flowchart and/or block diagram.
  • These computer-readable program instructions can also be stored in a computer-readable storage medium, and these instructions cause computers, programmable data processing devices and/or other devices to work in a specific way, so that the computer-readable medium storing instructions includes An article of manufacture comprising instructions for implementing various aspects of the functions/acts specified in one or more blocks in flowcharts and/or block diagrams.
  • each block in a flowchart or block diagram may represent a module, a portion of a program segment, or an instruction that includes one or more Executable instructions.
  • the functions noted in the block may occur out of the order noted in the figures. For example, two blocks in succession may, in fact, be executed substantially concurrently, or they may sometimes be executed in the reverse order, depending upon the functionality involved.
  • each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations can be implemented by a dedicated hardware-based system that performs the specified function or action , or may be implemented by a combination of dedicated hardware and computer instructions.
  • the computer program product can be realized by hardware, software or a combination thereof.
  • the computer program product may be embodied as a computer storage medium, and in another optional embodiment, the computer program product may be embodied as a software product, such as a software development kit (Software Development Kit, SDK), etc. Wait.
  • a software development kit Software Development Kit, SDK
  • Embodiments of the present application provide a positioning method and device, electronic equipment, storage media, and computer programs.
  • the method includes: acquiring the relative positional relationship between a target object and a plurality of acquisition devices, and acquiring the relative positional relationship between the plurality of acquisition devices.
  • the positioning of the target object can be realized through the camera network formed by multiple acquisition devices, and the accuracy of positioning can be improved.

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Abstract

一种定位方法及装置、电子设备、存储介质和计算机程序，所述方法包括：获取目标对象分别与多个采集装置之间的相对位置关系，以及获取所述多个采集装置的位置信息（S11），其中，所述多个采集装置用于对目标对象进行图像采集；根据所述相对位置关系以及所述位置信息，对所述目标对象进行定位，得到所述目标对象的位置信息（S12）。该方法可实现目标对象的定位，提高定位的准确性。

Description

定位方法及装置、电子设备、存储介质和计算机程序
相关申请的交叉引用
本申请基于申请号为202110528927.2、申请日为2021年05月14日的中国专利申请提出，并要求该中国专利申请的优先权，该中国专利申请的全部内容在此以全文引用的方式引入本申请。
技术领域
本申请涉及计算机视觉技术领域，涉及但不限于一种定位方法及装置、电子设备、存储介质和计算机程序。
背景技术
随着深度学习技术的发展，基于计算机视觉的目标检测技术得到了极大的发展和进步。目标检测技术可以确定图像中所感兴趣的目标对象，确定目标对象的类别和图像位置。目标检测技术还可以作为目标定位任务的基础。
目前，基于目标检测技术的目标定位，通常是基于固定目间距的双目相机定位方式，但是这种方式的定位误差较大。
发明内容
本申请实施例提出了一种定位方法及装置、电子设备、存储介质和计算机程序。
本申请实施例的一方面，提供了一种定位方法，应用于服务节点，所述方法包括：获取目标对象分别与多个采集装置之间的相对位置关系，以及获取所述多个采集装置的位置信息，其中，所述多个采集装置用于对目标对象进行图像采集；根据所述相对位置关系以及所述位置信息，对所述目标对象进行定位，得到所述目标对象的位置信息。
在一个或多个可能的实现方式中，所述方法还包括：向相机组网中的所述多个采集装置发送目标特征，以使所述多个采集装置根据所述目标特征确定采集图像中的所述目标对象。
在一个或多个可能的实现方式中，所述根据所述相对位置关系以及所述位置信息，对所述目标对象进行定位，得到所述目标对象的位置信息，包括：在所述多个采集装置中选择两个采集装置，其中，所述两个采集装置与所述目标对象形成三角形；根据所述目标对象与所述两个采集装置之间的相对位置关系，以及所述两个采集装置的位置信息，对所述目标对象进行定位，得到所述目标对象的位置信息。
在一个或多个可能的实现方式中，所述相对位置关系包括偏角信息，所述根据所述目标对象与所述两个采集装置之间的相对位置关系，以及所述两个采 集装置的位置信息，对所述目标对象进行定位，得到所述目标对象的位置信息，包括：根据所述两个采集装置的位置信息，确定所述两个采集装置之间的距离；根据所述距离以及所述目标对象与所述两个采集装置之间的偏角信息，得到所述目标对象的位置信息，其中，所述偏角信息表示所述目标对象相对于所述采集装置的基准方向的偏离角度。
在一个或多个可能的实现方式中，所述根据所述距离以及所述目标对象与所述两个采集装置之间的偏角信息，得到所述目标对象的位置信息，包括：获取所述两个采集装置中每个采集装置的方位信息；根据所述每个采集装置的方位信息以及所述目标对象与每个采集装置之间的偏角信息，确定所述三角形中的第一内角和第二内角，其中，所述第一内角所在的一边和所述第二内角所在的一边经过所述两个采集装置的连线；根据所述第一内角、所述第二内角和所述距离，得到所述目标对象的位置信息。
在一个或多个可能的实现方式中，所述方法还包括：根据所述目标对象的位置信息，在电子地图上标注所述目标对象的轨迹。
在一个或多个可能的实现方式中，所述获取目标对象分别与多个采集装置之间的相对位置关系，包括：获取所述多个采集装置的采集图像；确定所述目标对象在所述每个采集装置的采集图像中的图像位置；基于所述图像位置，获取所述目标对象与每个采集装置之间的相对位置关系。
在一个或多个可能的实现方式中，所述位置信息包括经纬度坐标；所述服务节点为相机组网的控制设备，或者，所述服务节点为所述相机组网中的任意一个采集装置。
本申请实施例的一方面，提供了一种定位方法，应用于采集装置，所述方法包括：获取采集图像；基于所述采集图像，确定目标对象与所述采集装置之间的相对位置关系；向服务节点发送所述目标对象与所述采集装置之间的相对位置关系，其中，所述服务节点用于根据所述目标对象分别与多个采集装置之间的相对位置关系以及所述多个采集装置的位置信息，对所述目标对象进行定位，得到所述目标对象的位置信息。
在一个或多个可能的实现方式中，所述相对位置关系包括偏角信息，所述基于所述采集图像，确定目标对象与所述采集装置之间的相对位置关系，包括：对所述采集图像进行目标检测，得到所述目标对象在所述采集图像中的图像位置；基于所述目标对象的图像位置，确定所述目标对象与所述采集装置之间的偏角信息，其中，所述偏角信息表示所述目标对象相对于所述采集装置的基准方向的偏离角度。
在一个或多个可能的实现方式中，所述方法还包括：接收服务节点发送的目标特征；根据所述目标特征在所述采集图像中确定所述目标对象；或者，获取用户输入的标注信息；根据所述标注信息在所述采集图像中确定所述目标对象。
本申请实施例的一方面，提供了一种定位装置，应用于服务节点，所述装置包括：
获取模块，配置为获取目标对象分别与多个采集装置之间的相对位置关系， 以及获取所述多个采集装置的位置信息，其中，所述多个采集装置用于对目标对象进行图像采集；
定位模块，配置为根据所述相对位置关系以及所述位置信息，对所述目标对象进行定位，得到所述目标对象的位置信息。
在一个或多个可能的实现方式中，所述装置还包括：
发送模块，配置为向相机组网中的所述多个采集装置发送目标特征，以使所述多个采集装置根据所述目标特征确定采集图像中的所述目标对象。
在一个或多个可能的实现方式中，所述定位模块，配置为在所述多个采集装置中选择两个采集装置，其中，所述两个采集装置与所述目标对象形成三角形；根据所述目标对象与所述两个采集装置之间的相对位置关系，以及所述两个采集装置的位置信息，对所述目标对象进行定位，得到所述目标对象的位置信息。
在一个或多个可能的实现方式中，所述相对位置关系包括偏角信息，所述定位模块，配置为根据所述两个采集装置的位置信息，确定所述两个采集装置之间的距离；根据所述距离以及所述目标对象与所述两个采集装置之间的偏角信息，得到所述目标对象的位置信息，其中，所述偏角信息表示所述目标对象相对于所述采集装置的基准方向的偏离角度。
在一个或多个可能的实现方式中，所述定位模块，配置为获取所述两个采集装置中每个采集装置的方位信息；根据所述每个采集装置的方位信息以及所述目标对象与每个采集装置之间的偏角信息，确定所述三角形中的第一内角和第二内角，其中，所述第一内角所在的一边和所述第二内角所在的一边经过所述两个采集装置的连线；根据所述第一内角、所述第二内角和所述距离，得到所述目标对象的位置信息。
在一个或多个可能的实现方式中，所述装置还包括：标注模块，配置为根据所述目标对象的位置信息，在电子地图上标注所述目标对象的轨迹。
在一个或多个可能的实现方式中，所述获取模块，配置为获取所述多个采集装置的采集图像；确定所述目标对象在所述每个采集装置的采集图像中的图像位置；基于所述图像位置，获取所述目标对象与每个采集装置之间的相对位置关系。
在一个或多个可能的实现方式中，所述位置信息包括经纬度坐标；所述服务节点为相机组网的控制设备，或者，所述服务节点为所述相机组网中的任意一个采集装置。
本申请实施例的一方面，提供了一种定位装置，所述装置包括：
获取模块，配置为获取采集图像；
确定模块，基于所述采集图像，确定目标对象与所述采集装置之间的相对位置关系；
发送模块，配置为向服务节点发送所述目标对象与所述采集装置之间的相对位置关系，其中，所述服务节点用于根据所述目标对象分别与多个采集装置之间的相对位置关系以及所述多个采集装置的位置信息，对所述目标对象进行定位，得到所述目标对象的位置信息。
在一个或多个可能的实现方式中，所述相对位置关系包括偏角信息，所述确定模块，配置为对所述采集图像进行目标检测，得到所述目标对象在所述采集图像中的图像位置；基于所述目标对象的图像位置，确定所述目标对象与所述采集装置之间的偏角信息，其中，所述偏角信息表示所述目标对象相对于所述采集装置的基准方向的偏离角度。
在一个或多个可能的实现方式中，所述确定模块，还配置为接收服务节点发送的目标特征；根据所述目标特征在所述采集图像中确定所述目标对象；或者，获取用户输入的标注信息；根据所述标注信息在所述采集图像中确定所述目标对象。
本申请实施例的一方面，提供了一种电子设备，包括：处理器；用于存储处理器可执行指令的存储器；其中，所述处理器被配置为调用所述存储器存储的指令，以执行上述方法。
本申请实施例的一方面，提供了一种计算机可读存储介质，其上存储有计算机程序指令，所述计算机程序指令被处理器执行时实现上述方法。
本申请实施例的一方面，提供了一种计算机程序，包括计算机可读代码，当所述计算机可读代码在电子设备中运行时，所述电子设备中的处理器执行用于实现上述任意一项所述的定位方法。
在本申请实施例中，通过获取目标对象分别与多个采集装置的相对位置关系，以及获取多个采集装置的位置信息，然后根据目标对象分别与多个采集装置的相对位置关系以及多个采集装置的位置信息，对目标对象进行定位，得到目标对象的位置信息。这样，可以通过多个采集装置形成的相机组网实现目标对象的定位，提高定位的准确性。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，而非限制本申请。根据下面参考附图对示例性实施例的详细说明，本申请的其它特征及方面将变得清楚。
附图说明
此处的附图被并入说明书中并构成本说明书的一部分，这些附图示出了符合本申请的实施例，并与说明书一起用于说明本申请的技术方案。
图1示出本申请实施例的服务节点与多个采集设备交互的场景图。
图2示出本申请实施例的定位方法的流程图一。
图3示出本申请实施例的定位方法的流程图二。
图4示出本申请实施例的相机组网定位的示意图。
图5示出本申请实施例的定位装置的框图一。
图6示出本申请实施例的定位装置的框图二。
图7示出本申请实施例的一种电子设备的框图一。
图8示出本申请实施例的一种电子设备的框图二。
具体实施方式
以下将参考附图详细说明本申请的各种示例性实施例、特征和方面。附图中相同的附图标记表示功能相同或相似的元件。尽管在附图中示出了实施例的各种方面，但是除非特别指出，不必按比例绘制附图。
在这里专用的词“示例性”意为“用作例子、实施例或说明性”。这里作为“示例性”所说明的任何实施例不必解释为优于或好于其它实施例。
本文中术语“和/或”，仅仅是一种描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。另外，本文中术语“至少一种”表示多种中的任意一种或多种中的至少两种的任意组合，例如，包括A、B、C中的至少一种，可以表示包括从A、B和C构成的集合中选择的任意一个或多个元素。
另外，为了更好地说明本申请，在下文的实施方式中给出了众多的实施细节。本领域技术人员应当理解，没有某些实施细节，本申请同样可以实施。在一些实例中，对于本领域技术人员熟知的方法、手段、元件和电路未作详细描述，以便于凸显本申请的主旨。
本申请实施例提供的定位方案，可以应用于定位系统、多相机组网、边缘节点等场景中。例如，在广场、园区、教室等较开阔场景下，可利用多点位相机布置相机组网，通过相机组网实时获取目标对象的位置信息，并在电子地图上进行实时标注。安防场景下，可利用多路相机的组网实现目标跟踪和定位的功能，可以适用于不同的应该场景下的目标定位。
图1示出本申请实施例的服务节点与多个采集设备交互的场景图。在本申请实施例中，采集装置可以是边缘设备，服务节点可以是云设备，或者，多个边缘设备中的中心设备或控制设备。服务节点可以与各个采集装置进行信息交互，服务节点可以汇总多个采集装置的信息，如获取多个采集装置(采集装置1至采集装置5)的方位信息和/或位置信息。一些实现方式中，采集装置可以具有处理能力，可以基于采集图像确定目标对象与采集装置之间的相对位置关系，服务节点可以根据多个采集装置发送的目标对象与多个采集装置之间的相对位置关系，确定目标对象的位置。一些实现方式中，在采集装置的处理能力不足的情况下，服务节点可以获取多个采集装置的采集图像，通过多个采集装置发送的采集图像，确定目标对象的位置。通过这种方式，可以减少由于边缘设备自身感知能力的不足的影响，实现各边缘设备的信息的有效关联，实现对目标对象的定位。
本申请实施例提供的定位方法可以由终端设备、服务器或其它类型的电子设备执行，其中，终端设备可以为用户设备(User Equipment，UE)、移动设备、用户终端、蜂窝电话、无绳电话、个人数字助理(Personal Digital Assistant，PDA)、手持设备、计算设备、车载设备、可穿戴设备等。在一些可能的实现方式中，该数据处理方法可以通过处理器调用存储器中存储的计算机可读指令的方式来实现。或者，可通过服务器执行所述方法。
图2示出本申请实施例的定位方法的流程图一，如图2所示，所述定位方法 应用于服务节点中，包括：
步骤S11，获取目标对象分别与多个采集装置之间的相对位置关系，以及获取所述多个采集装置的位置信息。
在本申请实施例中，多个采集装置可以形成相机组网，不同的采集装置之间可以进行通信，可以实现不同采集装置之间的信息共享。采集装置可以是具有图像采集功能的设备，例如，采集装置可以是具有拍摄功能的终端设备、边缘设备、服务器等。相机组网中的采集装置可以针对视野内的目标对象进行图像采集，一些实现方式中，采集装置可以根据采集图像确定目标对象与自身之间的相对位置关系。目标对象可以是人或物体。服务节点可以获取相机组网中多个采集装置确定的相对位置关系，一个采集装置可以对应一个相对位置关系。服务节点还可以获取多个采集装置的位置信息，例如，可以在存储单元中获取预先保存的多个采集装置的位置信息，或者，可以获取采集装置传输的采集装置的位置信息。
这里，相对位置关系可以理解为，以采集装置为基准，目标对象相对于采集装置的位置，例如，采集装置相对于采集装置的距离信息和/或偏角信息等。其中，偏角信息可以表示目标对象相对于采集装置的基准方向的偏离角度，即可以理解为，偏角信息可以表示目标对象偏离采集装置的基准方向的角度。不同采集装置的基准方向可以相同也可以不同，可以根据实际应用场景进行设置。例如，可以以正北方向为0°(度)，依顺时针方向将水平划分为360°，可以将采集装置的基准方向统一设置为正北方向，此时的偏角信息可以认为是目标对象相对于采集装置的方位角。再例如，可以将采集装置的基准方向设置为采集装置朝向的方位角，此时的偏角信息可以认为是目标对象与采集装置朝向之间的偏离角。
这里，服务节点可以是相机组网的控制设备，例如，服务器、控制终端等设备，通过服务节点可以汇总多个采集装置的信息，并向多个采集装置下发一些控制指令。一些实现方式中，服务节点可以是相机组网中的任意一个采集装置，从而可以通过相机组网中的一个采集装置汇总多个采集装置的信息，并实现对相机组网中其他采集装置的控制，可适用于多样的应用场景。
步骤S12，根据所述相对位置关系以及所述位置信息，对所述目标对象进行定位，得到所述目标对象的位置信息。
在本申请实施例中，服务节点可以根据目标对象与多个采集装置之间的相对位置关系以及多个采集装置的位置信息，对目标对象进行定位。例如，可以在多个采集装置中选择任意选择两个采集装置，或者，在多个采集装置中，选择最先获取到的相对位置关系所对应两个采集装置，根据目标对象相对于这两个采集装置之间的相对位置关系中以及这两个采集装置的位置信息，计算目标对象的位置信息。再例如，可以根据多个采集装置中每两个采集装置与目标对象的相对位置关系，以及相应的两个采集装置的位置信息，得到目标对象的多个位置信息，例如，3个采集装置中，两两组合，可以组合成2组，每组中两个采集装置与目标对象的相对位置关系和这两个采集装置的位置信息，可以确定目标对象的一个位置信息。再对目标对象的多个位置信息取平均，得到的平均 值最为目标对象最终的位置信息。
举例来说，可以以每个采集装置为顶点，根据目标对象与每个采集装置之间的偏角信息确定从顶点发出的射线，然后从两个采集装置的顶点发出的两条射线可以相交于一点，这个交点的位置可以认为是目标对象所在的位置，得到目标对象的位置信息，实现对目标对象进行定位。再例如，可以以每个采集装置为顶点，根据目标对象与每个采集装置之间的距离信息确定以每个顶点为圆心的圆，然后以两个采集装置的顶点为圆心的圆可以相交于一点，这个交点的位置可以认为是目标对象所在的位置，得到目标对象的位置信息，实现对目标对象进行定位。
本申请实施例中，可以通过多个采集装置组成的相机组网，实现目标对象的定位。采集装置可作为边缘节点应用在边缘设备场景中，从而各个边缘设备的信息可以被有效的关联，与相关技术中由于边缘设备自身感知能力的不足而难以有效利用边缘设备的信息的一些方案相比，可以增强边缘设备的信息的有效利用。
在一些实现方式中，服务节点还可以获取多个采集装置的采集图像，进一步确定目标对象在每个采集装置的采集图像中的图像位置。然后基于图像位置，获取目标对象与每个采集装置之间的相对位置关系。
针对每个采集装置的采集图像，服务节点可以对采集图像进行目标检测，例如，可以使用一些目标检测算法，如YOLO、SSD等目标检测算法，对采集图像进行目标检测，得到目标对象在采集图像中的图像位置。然后根据目标对象的图像位置可以确定目标对象与采集图像之间的相对位置关系。例如，可以预先设置采集图像中的每个像素位置与自身标准方向的偏移角度之间的对应关系，基于该对应关系，然后可以确定目标对象的中心所在的像素位置，所对应的偏移角度，即可以得到目标对象的偏角信息。再例如，采集图像可以是深度图像，根据目标对象所在图像位置的图像深度，可以确定目标对象与采集装置之间的距离信息。通过这种方式，服务节点可以快速确定目标对象与每个采集装置之间的相对位置关系。
在一些实现方式中，在根据目标对象与多个采集装置之间的相对位置关系以及多个采集装置的位置信息，对目标对象进行定位时，可以在多个采集装置中选择两个采集装置，这两个采集装置可以与目标对象形成三角形，然后再根据目标对象与这两个采集装置之间的相对位置关系以及这两个采集装置的位置信息，对目标对象进行定位，得到目标对象的位置信息。举例来说，可以在多个采集装置中随机选择两个采集装置，然后根据目标对象与这两个采集装置的相对位置关系和这两个采集装置的位置信息，判断这两个采集装置是否可以与目标对象构成三角形。例如，可以根据这两个采集装置的位置信息建立这两个采集装置的第一连线，然后根据目标对象相对于这采集装置的偏角信息，判断目标对象分别与这两个采集装置之间的第二连线，是否均与第一连线存在不为0的夹角，如果目标对象与这两个采集装置之间的第二连线均与第一连线存在不为0的夹角，则可以认为这两个采集装置可以在同一平面上与目标对象构成三角形，否则，可以认为这两个采集装置不能在同一平面上与目标对象构成三角形。 在两个采集装置可以与目标对象形成三角形的情况下，可以进一步根据目标对象和这两个采集装置之间的相对位置关系，以及这两个采集装置的位置信息，计算目标对象的位置信息，从而可以实现对目标对象的精准定位。
在一些示例中，上述相对位置关系包括偏角信息。在对目标对象进行定位时，可以先根据两个采集装置的位置信息，确定两个采集装置之间的距离，然后再根据两个采集装置之间的距离以及目标对象与这两个采集装置之间的偏角信息，得到目标对象的位置信息，例如，可以采用距离公式，根据两个采集装置的位置信息，计算两个采集装置之间的距离，再利用三角定位公式，可以根据目标对象相对于两个采集装置的偏角信息以及两个采集装置之间的距离，计算目标对象的位置坐标。这样，通过简单计算即可得到目标对象的位置坐标，提高定位的效率。同时相机组网受场景限制较小，可以提高定位的准确性。一些示例中，目标对象与采集装置之间的偏角信息，可以是目标对象的方位角，从而可以直接根据目标对象与这两个采集装置之间的偏角信息，确定三角形的两个内角，进一步利用三角定位公式，可以根据三角形的两个内角以及两个采集装置之间的距离，对目标对象定位。
在一个示例中，目标对象与采集装置之间的偏角信息，可以是目标对象与采集装置朝向之间的偏离角度，从而可以获取这两个采集装置中每个采集装置的方位信息，根据每个采集装置的方位信息以及目标对象与每个采集装置之间的偏角信息，确定三角形中的第一内角和第二内角，例如可以先根据每个采集装置的方位信息以及目标对象与每个采集装置之间的偏角信息，确定目标对象的方位信息，然后再根据目标对象相对于两个采集装置的方位信息，确定三角形中的第一内角和第二内角。再根据第一内角、第二角和两个采集装置之间的距离，可以得到目标对象的位置信息，例如，可以将第一内角、第二角和两个采集装置之间的距离带入三角定位公式，可以得到目标对象的位置信息。第一内角所在的一边和第二内角所在的一边经过两个采集装置的连线。通过这种方式，可以实现对目标对象快速精准的定位。
在一些实现方式中，采集装置中可以配置有全球导航卫星系统(Global Navigation Satellite System，GNSS)和电子罗盘传感器，从而采集装置可以具有感知自身的位置和朝向的能力。采集装置可通过全球定位系统差分或静态定位算法可以得到高精度的地理坐标。一些实现方式中，相机组网中的采集装置在安装完成后，采集装置的位置可以不再发生改变，从而在采集装置在安装完成后，采集装置的位置信息可以保存在采集装置中或者保存在服务节点中。
在一些实现方式中，上述位置信息可以包括经纬度坐标。相应地，可以通过目标对象相对于多个采集装置的偏角信息以及多个采集装置的经纬度坐标，得到目标对象的经纬度坐标。这样，本申请实施例提供的定位方案可以得到目标对象精确的地理坐标，从而可以使定位得到的位置信息得到统一，便于其他设备使用，减少由于位置信息的坐标系不统一而难以进行位置共享的情况，减少位置共享时需要进行坐标系或位置信息变换的操作，提高位置信息的共享效率。
本申请实施例中，相机组网中的多个采集装置可以针对同一目标对象进行 识别，从而实现对同一目标对象进行目标跟踪和实时定位。一些实现方式中，服务节点可以向相机组网中的多个采集装置发送目标特征，以使多个采集装置根据目标特征确定采集图像中的目标对象。目标特征可以指示目标对象，多个采集装置收到目标特征之后，可以将目标特征与采集图像中多个对象的图像特征与目标特征进行匹配，确定多个对象中的目标对象，从而可以进一步针对目标对象进行目标跟踪和定位。
一些示例中，目标特征可以是目标对象的特征值。服务节点可以在特征数据库中获取目标对象的特征值，其中，目标对象的特征值可以是利用深度学习网络提取的。例如，服务节点可以根据用户指令在特征数据库中获取用户指令对应的目标特征。再例如，用户可以在服务节点的显示界面中，点击显示界面中展示的某个图像或者某个图像区域，服务节点可以利用深度学习网络对用户点击的图像或图像区域进行特征提取，得到目标特征。再或者，服务节点作为采集装置的情况下，可以对当前采集画面中出现的一个或多个对象进行特征提取，得到目标特征。
在一些实现方式中，在上述步骤S12之后，还可以根据目标对象的位置信息，在电子地图上标注目标对象的轨迹，例如，可以在电子地图中按照时间顺序对目标对象在多个时刻的位置信息依次进行连线，得到目标对象的轨迹。一些实现方式中，可以使用特殊颜色的标记、线段、符号等方式对目标对象的轨迹进行标注，从而目标对象所在的位置或者运动轨迹可以直观地反应在电子地图上，供用户进行后续分析。一些实现方式中，还可以对目标对象的轨迹进行整合，即可以理解为将目标对象的历史运动轨迹和当前运动轨迹均标注在电子地图上，目标用户多次经过的位点可以通过颜色进行重点标注，从而可以更好地便于用户分析。
图3示出本申请实施例的定位方法的流程图二，如图3所示，所述定位方法应用于相机组网中的采集装置，包括：
步骤S21，获取采集图像。
在本申请实施例中，相机组网可以包括多个采集装置。每个采集装置可以针对自身视野中的场景进行图像采集。各个采集装置的位置可以根据实际应用场景或需求进行合理设置，例如，可以将各个采集装置作为多边形的顶点，多个采集装置可以构成多边形。任意两个采集装置之间可以通过无线或有线网络进行通信。为了使任意两个采集装置之间进行良好地通信，还可以等间距地设置多个采集装置。每个采集装置可以将进入视野中的对象作为目标对象，并针对目标对象进行图像采集，得到采集图像。
步骤S22，基于所述采集图像，确定目标对象与所述采集装置之间的相对位置关系。
在本申请实施例中，采集装置可以对采集图像进行目标检测，得到目标对象在采集图像中的图像位置，然后根据目标对象的图像位置可以确定目标对象与采集装置之间的相对位置关系。一些实现方式中，采集装置可以对采集图像进行目标检测，例如，可以使用一些目标检测算法，如YOLO、SSD等目标检测算法，对采集图像进行目标检测，得到目标对象在采集图像中的图像位置。 然后基于目标对象的图像位置可以确定目标对象与采集图像之间的相对位置关系。
在一些实现方式中，相对位置关系可以包括偏角信息。偏角信息用于表示目标对象相对于采集装置的基准方向的偏离角度。在确定目标对象与采集装置之间的偏角信息时，可以预先设置采集图像中的每个像素位置与自身标准方向的偏移角度之间的对应关系，然后可以根据目标对象的图像位置，确定目标对象的中心点对应的像素位置，再根据每个像素位置与自身标准方向的偏移角度之间的对应关系，可以确定目标对象的中心点对应的像素位置所对应偏移角度，即可以得到目标对象的偏角信息。
在一些实现方式中，相对位置关系还可以包括距离信息，采集图像可以是深度图像。在确定目标对象与采集装置之间的距离信息时，可以根据目标对象所在图像位置的图像深度，确定目标对象与采集装置之间的距离信息。
在一些实现方式中，采集装置可以在一定角度范围内进行转动，即采集装置的朝向可以在一定角度范围内变化，从而可以增大采集装置图像采集的视野。在采集装置的基准方向是根据采集装置的方位信息确定的情况下，还可以基于目标对象的图像位置以及采集装置的朝向，确定目标对象相对于采集装置的偏角信息。例如，可以预先设置采集图像的每个像素位置相对于中心像素位置的偏移角度，其中，中心像素位置可以对应采集装置朝向的基准方向。然后根据目标对象的图像位置确定目标对象的中心点对应的像素位置，再根据每个像素位置相对于中心像素位置的偏移角度，可以确定目标对象的中心点对应的像素位置相对于中心像素位置的偏移角度，再将采集装置的朝向加上中心点对应的像素位置相对于中心像素位置的偏移角度，可以得到目标对象的偏角信息。其中，采集装置可以配置有电子罗盘传感器，可以通过电子罗盘传感器获取自身的朝向。通过这种方式，采集装置可以快速准确地确定目标对象的偏角信息，并且适用于采集装置可以自行转动的应用场景。
步骤S23，向服务节点发送所述目标对象与所述采集装置之间的相对位置关系。
在本申请实施例中，采集装置在确定目标对象与采集装置之间的相对位置关系之后，可以向服务节点发送目标对象与自身之间的相对位置关系。服务节点可以收到多个采集装置发送的相对位置关系，进一步可以根据目标对象与多个采集装置之间的相对位置关系，以及多个采集装置的位置信息，对目标对象进行定位，得到目标对象的位置信息。
本申请实施例可以利用相机组网的采集装置对目标对象进行图像采集，实现目标对象的定位，定位方式简单，可适用于多种应用场景。例如，在广场、园区、教室等较开阔场景下，可通过相机组网实时获取目标对象的地理坐标，并在电子地图上进行实时标注。
在一些实现方式中，采集装置还可以接收服务节点发送的目标特征，然后根据目标特征在采集图像中确定所述目标对象。例如，服务节点可以通过有线或无线网络将目标特征发送至相机组网中的多个采集装置，采集装置可以将目标特征与采集图像中至少一个对象的图像特征进行匹配，确定目标特征对应的 目标对象。这里，服务节点可以根据自身获取的采集图像或者用户指令确定目标特征。这样，多个采集装置可以根据服务节点下发的目标特征，针对同一目标对象进行识别，从而实现对目标对象的跟踪。
在一些实现方式中，采集装置还可以获取用户输入的标注信息，然后根据标注信息在采集图像中确定所述目标对象。例如，用户可以将用于指示目标对象的标注信息分别输入至少两个采集装置中，然后至少两个采集装置可以根据标注信息在采集图像中确定标注信息指示的目标对象。标注信息可以包括目标对象的图像、图像特征等，采集装置可以将采集图像与标注信息包括的图像进行匹配，或者，将标注信息包括的图像特征与采集图像的图像特征进行匹配，确定目标对象。一些示例中，采集装置还可以在显示界面中获取用户选定的图像或图像区域，用户选定的图像或图像区域可以作为用于指示目标用户的标注信息。通过这种方式，多个采集装置可以根据用户输入的标注信息，针对同一目标对象进行识别，从而实现对目标对象的跟踪。
需要说明的是，目标对象可能出现在相机组网中一部分采集装置的视野中，这部分采集装置可以对采集图像中的目标对象进行识别。而相机组网中的一部分采集装置可能由于朝向或遮挡等原因，图像采集的视野中不存在目标对象，从而无法针对目标对象进行识别。对于视野中不存在目标对象的采集装置而言，可以继续对视野中的场景进行拍摄，以实时获取场景中的信息。
下面通过一个示例对本申请实施例提供的定位方案进行说明。图4示出本申请实施例的相机组网定位的示意图。如图4所示，本示例中，可以在广场中设置相机组网。相机组网可以包括4个相机(采集装置)。每个相机可以配置有GNSS和电子罗盘传感器，可以获取自身的地理坐标和方位信息。其中，相机1的地理坐标为(x1，y1)，相机2的地理坐标为(x2，y2)，相机3的地理坐标为(x3，y3)，相机4的地理坐标为(x4，y4)。
相机组网的服务节点可以向相机下发目标对象的特征值，由相机组网中的相机自动对目标对象进行识别和跟踪。或者，相机组网中的至少两个相机可以接收用户输入的标识信息，根据用户输入的标识信息对目标对象进行识别和跟踪。相机组网中的相机3由于遮挡原因无法对目标对象进行图像采集。相机组网中的相机1、相机2和相机4可以针对目标对象进行图像采集，并确定目标对象在采集图像中的图像位置，然后根据目标对象的图像位置计算出目标对象相对于相机的偏角信息。
服务节点通过网络获取相机1、相机2和相机4计算的偏角信息、相机的地理坐标和方位信息，然后可以随机选择可与目标对象构成一个三角形的两个相机，如可以选择相机1和相机2，根据目标对象相对于相机1的物体方位角a11(偏角信息)、目标对象相对于相机2的物体方位角a21(偏角信息)以及相机1和相机2的地理坐标，计算目标对象的位置信息，可以得到目标对象的经纬度坐标(x，y)。这里，相机1的基准方向可以为正东方向，相机2的基准方向可以为正西方向，这样，相机1和相机2得到偏角信息即是三角形的两个内角，根据三角函数关系，可以计算目标对象的位置信息。进一步可以将目标对象的位置信息或移动轨迹在电子地图上进行标注显示，如图中目标对象处延伸的曲线所示。相机 可以是广场边缘部署的边缘节点。
本示例结合边缘节点的使用场景，提供了一种基于多相机互联的定位方法，可以得到目标对象的地理坐标(经纬度坐标)，实现在地理空间上的坐标统一，方便其他设备或平台集成处理，便于在电子地图上自动进行位置标注。并且定位方式简单，可适用于不同应该场景下的目标定位。
可以理解，本申请提及的上述各个方法实施例，在不违背原理逻辑的情况下，均可以彼此相互结合形成结合后的实施例。本领域技术人员可以理解，在实际实施方式的上述方法中，各步骤的执行顺序应当以其功能和可能的内在逻辑确定。
此外，本申请实施例还提供了定位装置、电子设备、计算机可读存储介质、程序，上述均可用来实现本申请实施例提供的任一种定位方法，相应技术方案和描述和参见方法部分的相应记载。
图5示出本申请实施例的定位装置的框图一，如图5所示，所述装置包括：
获取模块31，配置为获取目标对象分别与多个采集装置之间的相对位置关系，以及获取所述多个采集装置的位置信息，其中，所述多个采集装置用于对目标对象进行图像采集；
定位模块32，配置为根据所述相对位置关系以及所述位置信息，对所述目标对象进行定位，得到所述目标对象的位置信息。
在一个或多个可能的实现方式中，所述装置还包括：
发送模块，配置为向相机组网中的所述多个采集装置发送目标特征，以使所述多个采集装置根据所述目标特征确定采集图像中的所述目标对象。
在一个或多个可能的实现方式中，所述定位模块32，配置为在所述多个采集装置中选择两个采集装置，其中，所述两个采集装置与所述目标对象形成三角形；根据所述目标对象与所述两个采集装置之间的相对位置关系，以及所述两个采集装置的位置信息，对所述目标对象进行定位，得到所述目标对象的位置信息。
在一个或多个可能的实现方式中，所述相对位置关系包括偏角信息，所述定位模块32，配置为根据所述两个采集装置的位置信息，确定所述两个采集装置之间的距离；根据所述距离以及所述目标对象与所述两个采集装置之间的偏角信息，得到所述目标对象的位置信息，其中，所述偏角信息表示所述目标对象相对于所述采集装置的基准方向的偏离角度。
在一个或多个可能的实现方式中，所述定位模块32，配置为获取所述两个采集装置中每个采集装置的方位信息；根据所述每个采集装置的方位信息以及所述目标对象与每个采集装置之间的偏角信息，确定所述三角形中的第一内角和第二内角，其中，所述第一内角所在的一边和所述第二内角所在的一边经过所述两个采集装置的连线；根据所述第一内角、所述第二内角和所述距离，得到所述目标对象的位置信息。
在一个或多个可能的实现方式中，所述装置还包括：标注模块，配置为根据所述目标对象的位置信息，在电子地图上标注所述目标对象的轨迹。
在一个或多个可能的实现方式中，所述获取模块31，配置为获取所述多个 采集装置的采集图像；确定所述目标对象在所述每个采集装置的采集图像中的图像位置；基于所述图像位置，获取所述目标对象与每个采集装置之间的相对位置关系。
在一个或多个可能的实现方式中，所述位置信息包括经纬度坐标；所述服务节点为相机组网的控制设备，或者，所述服务节点为所述相机组网中的任意一个采集装置。
图6示出本申请实施例的定位装置的框图二，如图6所示，所述装置包括：
获取模块41，配置为获取采集图像；
确定模块42，配置为基于所述采集图像，确定目标对象与所述采集装置之间的相对位置关系；
发送模块43，配置为向服务节点发送所述目标对象与所述采集装置之间的相对位置关系，其中，所述服务节点用于根据所述目标对象分别与多个采集装置之间的相对位置关系以及所述多个采集装置的位置信息，对所述目标对象进行定位，得到所述目标对象的位置信息。
在一个或多个可能的实现方式中，所述相对位置关系包括偏角信息，所述确定模块42，配置为对所述采集图像进行目标检测，得到所述目标对象在所述采集图像中的图像位置；基于所述目标对象的图像位置，确定所述目标对象与所述采集装置之间的偏角信息，其中，所述偏角信息表示所述目标对象相对于所述采集装置的基准方向的偏离角度。
在一个或多个可能的实现方式中，所述确定模块42，还配置为接收服务节点发送的目标特征；根据所述目标特征在所述采集图像中确定所述目标对象；或者，获取用户输入的标注信息；根据所述标注信息在所述采集图像中确定所述目标对象。
在一些实施例中，本申请实施例提供的装置具有的功能或包含的模块可以用于执行上文方法实施例描述的方法，其实际实现可以参照上文方法实施例的描述。
本申请实施例还提出一种计算机可读存储介质，其上存储有计算机程序指令，所述计算机程序指令被处理器执行时实现上述方法。计算机可读存储介质可以是非易失性计算机可读存储介质。
本申请实施例还提出一种电子设备，包括：处理器；用于存储处理器可执行指令的存储器；其中，所述处理器被配置为调用所述存储器存储的指令，以执行上述方法。
本申请实施例还提出一种计算机程序，包括计算机可读代码，当所述计算机可读代码在电子设备中运行时，所述电子设备中的处理器执行实现上述方法。
本申请实施例还提供了一种计算机程序产品，包括计算机可读代码，当计算机可读代码在设备上运行时，设备中的处理器执行用于实现如上任一实施例提供的定位方法的指令。
本申请实施例还提供了另一种计算机程序产品，用于存储计算机可读指令，指令被执行时使得计算机执行上述任一实施例提供的定位方法的操作。
电子设备可以被提供为终端、服务器或其它形态的设备。
图7示出本申请实施例的一种电子设备的框图一。例如，电子设备800可以是移动电话，计算机，数字广播终端，消息收发设备，游戏控制台，平板设备，医疗设备，健身设备，个人数字助理等终端。
参照图7，电子设备800可以包括以下一个或多个组件：处理组件802，存储器804，电源组件806，多媒体组件808，音频组件810，输入/输出(I/O)的接口812，传感器组件814，以及通信组件816。
处理组件802通常控制电子设备800的整体操作，诸如与显示，电话呼叫，数据通信，相机操作和记录操作相关联的操作。处理组件802可以包括一个或多个处理器820来执行指令，以完成上述的方法的全部或部分步骤。此外，处理组件802可以包括一个或多个模块，便于处理组件802和其他组件之间的交互。例如，处理组件802可以包括多媒体模块，以方便多媒体组件808和处理组件802之间的交互。
存储器804被配置为存储各种类型的数据以支持在电子设备800的操作。这些数据的示例包括用于在电子设备800上操作的任何应用程序或方法的指令，联系人数据，电话簿数据，消息，图片，视频等。存储器804可以由任何类型的易失性或非易失性存储设备或者它们的组合实现，如静态随机存取存储器(SRAM)，电可擦除可编程只读存储器(EEPROM)，可擦除可编程只读存储器(EPROM)，可编程只读存储器(PROM)，只读存储器(ROM)，磁存储器，快闪存储器，磁盘或光盘。
电源组件806为电子设备800的各种组件提供电力。电源组件806可以包括电源管理系统，一个或多个电源，及其他与为电子设备800生成、管理和分配电力相关联的组件。
多媒体组件808包括在所述电子设备800和用户之间的提供一个输出接口的屏幕。在一些实施例中，屏幕可以包括液晶显示器(LCD)和触摸面板(TP)。如果屏幕包括触摸面板，屏幕可以被实现为触摸屏，以接收来自用户的输入信号。触摸面板包括一个或多个触摸传感器以感测触摸、滑动和触摸面板上的手势。所述触摸传感器可以不仅感测触摸或滑动动作的边界，而且还检测与所述触摸或滑动操作相关的持续时间和压力。在一些实施例中，多媒体组件808包括一个前置摄像头和/或后置摄像头。当电子设备800处于操作模式，如拍摄模式或视频模式时，前置摄像头和/或后置摄像头可以接收外部的多媒体数据。每个前置摄像头和后置摄像头可以是一个固定的光学透镜系统或具有焦距和光学变焦能力。
音频组件810被配置为输出和/或输入音频信号。例如，音频组件810包括一个麦克风(MIC)，当电子设备800处于操作模式，如呼叫模式、记录模式和语音识别模式时，麦克风被配置为接收外部音频信号。所接收的音频信号可以被进一步存储在存储器804或经由通信组件816发送。在一些实施例中，音频组件810还包括一个扬声器，用于输出音频信号。
I/O接口812为处理组件802和外围接口模块之间提供接口，上述外围接口模块可以是键盘，点击轮，按钮等。这些按钮可包括但不限于：主页按钮、音量按钮、启动按钮和锁定按钮。
传感器组件814包括一个或多个传感器，用于为电子设备800提供各个方面的状态评估。例如，传感器组件814可以检测到电子设备800的打开/关闭状态，组件的相对定位，例如所述组件为电子设备800的显示器和小键盘，传感器组件814还可以检测电子设备800或电子设备800一个组件的位置改变，用户与电子设备800接触的存在或不存在，电子设备800方位或加速/减速和电子设备800的温度变化。传感器组件814可以包括接近传感器，被配置用来在没有任何的物理接触时检测附近物体的存在。传感器组件814还可以包括光传感器，如互补金属氧化物半导体(CMOS)或电荷耦合装置(CCD)图像传感器，用于在成像应用中使用。在一些实施例中，该传感器组件814还可以包括加速度传感器，陀螺仪传感器，磁传感器，压力传感器或温度传感器。
通信组件816被配置为便于电子设备800和其他设备之间有线或无线方式的通信。电子设备800可以接入基于通信标准的无线网络，如无线网络(WiFi)，第二代移动通信技术(2G)或第三代移动通信技术(3G)，或它们的组合。在一个示例性实施例中，通信组件816经由广播信道接收来自外部广播管理系统的广播信号或广播相关信息。在一个示例性实施例中，所述通信组件816还包括近场通信(NFC)模块，以促进短程通信。例如，在NFC模块可基于射频识别(RFID)技术，红外数据协会(IrDA)技术，超宽带(UWB)技术，蓝牙(BT)技术和其他技术来实现。
在示例性实施例中，电子设备800可以被一个或多个应用专用集成电路(ASIC)、数字信号处理器(DSP)、数字信号处理设备(DSPD)、可编程逻辑器件(PLD)、现场可编程门阵列(FPGA)、控制器、微控制器、微处理器或其他电子元件实现，用于执行上述方法。
在示例性实施例中，还提供了一种非易失性计算机可读存储介质，例如包括计算机程序指令的存储器804，上述计算机程序指令可由电子设备800的处理器820执行以完成上述方法。
图8示出本申请实施例的一种电子设备的框图二。例如，电子设备1900可以被提供为一服务器。参照图8，电子设备1900包括处理组件1922，其进一步包括一个或多个处理器，以及由存储器1932所代表的存储器资源，用于存储可由处理组件1922的执行的指令，例如应用程序。存储器1932中存储的应用程序可以包括一个或一个以上的每一个对应于一组指令的模块。此外，处理组件1922被配置为执行指令，以执行上述方法。
电子设备1900还可以包括一个电源组件1926被配置为执行电子设备1900的电源管理，一个有线或无线网络接口1950被配置为将电子设备1900连接到网络，和一个输入输出(I/O)接口1958。电子设备1900可以操作基于存储在存储器1932的操作系统，例如微软服务器操作系统(Windows ServerTM)，苹果公司推出的基于图形用户界面操作系统(Mac OS XTM)，多用户多进程的计算机操作系统(UnixTM),自由和开放原代码的类Unix操作系统(LinuxTM)，开放原代码的类Unix操作系统(FreeBSDTM)或类似。
在示例性实施例中，还提供了一种非易失性计算机可读存储介质，例如包括计算机程序指令的存储器1932，上述计算机程序指令可由电子设备1900的处 理组件1922执行以完成上述方法。
本申请实施例可以是系统、方法和/或计算机程序产品。计算机程序产品可以包括计算机可读存储介质，其上载有用于使处理器实现本申请实施例的各个方面的计算机可读程序指令。
计算机可读存储介质可以是可以保持和存储由指令执行设备使用的指令的有形设备。计算机可读存储介质例如可以是但不限于电存储设备、磁存储设备、光存储设备、电磁存储设备、半导体存储设备或者上述的任意合适的组合。计算机可读存储介质的更详细的例子(非穷举的列表)包括：便携式计算机盘、硬盘、随机存取存储器(RAM)、只读存储器(ROM)、可擦式可编程只读存储器(EPROM或闪存)、静态随机存取存储器(SRAM)、便携式压缩盘只读存储器(CD-ROM)、数字多功能盘(DVD)、记忆棒、软盘、机械编码设备、例如其上存储有指令的打孔卡或凹槽内凸起结构、以及上述的任意合适的组合。这里所使用的计算机可读存储介质不被解释为瞬时信号本身，诸如无线电波或者其他自由传播的电磁波、通过波导或其他传输媒介传播的电磁波(例如，通过光纤电缆的光脉冲)、或者通过电线传输的电信号。
这里所描述的计算机可读程序指令可以从计算机可读存储介质下载到各个计算/处理设备，或者通过网络、例如因特网、局域网、广域网和/或无线网下载到外部计算机或外部存储设备。网络可以包括铜传输电缆、光纤传输、无线传输、路由器、防火墙、交换机、网关计算机和/或边缘服务器。每个计算/处理设备中的网络适配卡或者网络接口从网络接收计算机可读程序指令，并转发该计算机可读程序指令，以供存储在各个计算/处理设备中的计算机可读存储介质中。
用于执行本申请操作的计算机程序指令可以是汇编指令、指令集架构(ISA)指令、机器指令、机器相关指令、微代码、固件指令、状态设置数据、或者以一种或多种编程语言的任意组合编写的源代码或目标代码，所述编程语言包括面向对象的编程语言—诸如Smalltalk、C++等，以及常规的过程式编程语言—诸如“C”语言或类似的编程语言。计算机可读程序指令可以完全地在用户计算机上执行、部分地在用户计算机上执行、作为一个独立的软件包执行、部分在用户计算机上部分在远程计算机上执行、或者完全在远程计算机或服务器上执行。在涉及远程计算机的情形中，远程计算机可以通过任意种类的网络—包括局域网(LAN)或广域网(WAN)—连接到用户计算机，或者，可以连接到外部计算机(例如利用因特网服务提供商来通过因特网连接)。在一些实施例中，通过利用计算机可读程序指令的状态信息来个性化定制电子电路，例如可编程逻辑电路、现场可编程门阵列(FPGA)或可编程逻辑阵列(PLA)，该电子电路可以执行计算机可读程序指令，从而实现本申请的各个方面。
这里参照根据本申请实施例的方法、装置(系统)和计算机程序产品的流程图和/或框图描述了本申请的各个方面。应当理解，流程图和/或框图的每个方框以及流程图和/或框图中各方框的组合，都可以由计算机可读程序指令实现。
这些计算机可读程序指令可以提供给通用计算机、专用计算机或其它可编程数据处理装置的处理器，从而生产出一种机器，使得这些指令在通过计算机或其它可编程数据处理装置的处理器执行时，产生了实现流程图和/或框图中的 一个或多个方框中规定的功能/动作的装置。也可以把这些计算机可读程序指令存储在计算机可读存储介质中，这些指令使得计算机、可编程数据处理装置和/或其他设备以特定方式工作，从而，存储有指令的计算机可读介质则包括一个制造品，其包括实现流程图和/或框图中的一个或多个方框中规定的功能/动作的各个方面的指令。
也可以把计算机可读程序指令加载到计算机、其它可编程数据处理装置、或其它设备上，使得在计算机、其它可编程数据处理装置或其它设备上执行一系列操作步骤，以产生计算机实现的过程，从而使得在计算机、其它可编程数据处理装置、或其它设备上执行的指令实现流程图和/或框图中的一个或多个方框中规定的功能/动作。
附图中的流程图和框图显示了根据本申请的多个实施例的系统、方法和计算机程序产品的可能实现的体系架构、功能和操作。在这点上，流程图或框图中的每个方框可以代表一个模块、程序段或指令的一部分，所述模块、程序段或指令的一部分包含一个或多个用于实现规定的逻辑功能的可执行指令。在有些作为替换的实现中，方框中所标注的功能也可以以不同于附图中所标注的顺序发生。例如，两个连续的方框实际上可以基本并行地执行，它们有时也可以按相反的顺序执行，这依所涉及的功能而定。也要注意的是，框图和/或流程图中的每个方框、以及框图和/或流程图中的方框的组合，可以用执行规定的功能或动作的专用的基于硬件的系统来实现，或者可以用专用硬件与计算机指令的组合来实现。
该计算机程序产品可以通过硬件、软件或其结合的方式实现。在一个可选实施例中，所述计算机程序产品可以体现为计算机存储介质，在另一个可选实施例中，计算机程序产品可以体现为软件产品，例如软件开发包(Software Development Kit，SDK)等等。
以上已经描述了本申请的各实施例，上述说明是示例性的，并非穷尽性的，并且也不限于所披露的各实施例。在不偏离所说明的各实施例的范围和精神的情况下，对于本技术领域的普通技术人员来说许多修改和变更都是显而易见的。本文中所用术语的选择，旨在最好地解释各实施例的原理、实际应用或对市场中的技术的改进，或者使本技术领域的其它普通技术人员能理解本文披露的各实施例。
工业实用性
本申请实施例提供了一种定位方法及装置、电子设备、存储介质和计算机程序，所述方法包括：获取目标对象分别与多个采集装置之间的相对位置关系，以及获取所述多个采集装置的位置信息，其中，所述多个采集装置用于对目标对象进行图像采集；根据所述相对位置关系以及所述位置信息，对所述目标对象进行定位，得到所述目标对象的位置信息。这样，可以通过多个采集装置形成的相机组网实现目标对象的定位，提高定位的准确性。

Claims (16)

  1. 一种定位方法，其中，应用于服务节点中，包括：
    获取目标对象分别与多个采集装置之间的相对位置关系，以及获取所述多个采集装置的位置信息，其中，所述多个采集装置用于对目标对象进行图像采集；
    根据所述相对位置关系以及所述位置信息，对所述目标对象进行定位，得到所述目标对象的位置信息。
  2. 根据权利要求1所述的方法，其中，所述方法还包括：
    向相机组网中的所述多个采集装置发送目标特征，以使所述多个采集装置根据所述目标特征确定采集图像中的所述目标对象。
  3. 根据权利要求1或2所述的方法，其中，所述根据所述相对位置关系以及所述位置信息，对所述目标对象进行定位，得到所述目标对象的位置信息，包括：
    在所述多个采集装置中选择两个采集装置，其中，所述两个采集装置与所述目标对象形成三角形；
    根据所述目标对象与所述两个采集装置之间的相对位置关系，以及所述两个采集装置的位置信息，对所述目标对象进行定位，得到所述目标对象的位置信息。
  4. 根据权利要求3所述的方法，其中，所述相对位置关系包括偏角信息，所述根据所述目标对象与所述两个采集装置之间的相对位置关系，以及所述两个采集装置的位置信息，对所述目标对象进行定位，得到所述目标对象的位置信息，包括：
    根据所述两个采集装置的位置信息，确定所述两个采集装置之间的距离；
    根据所述距离以及所述目标对象与所述两个采集装置之间的偏角信息，得到所述目标对象的位置信息，其中，所述偏角信息表示所述目标对象相对于所述采集装置的基准方向的偏离角度。
  5. 根据权利要求4所述的方法，其中，所述根据所述距离以及所述目标对象与所述两个采集装置之间的偏角信息，得到所述目标对象的位置信息，包括：
    获取所述两个采集装置中每个采集装置的方位信息；
    根据所述每个采集装置的方位信息以及所述目标对象与每个采集装置之间的偏角信息，确定所述三角形中的第一内角和第二内角，其中，所述第一内角所在的一边和所述第二内角所在的一边经过所述两个采集装置的连线；
    根据所述第一内角、所述第二内角和所述距离，得到所述目标对象的 位置信息。
  6. 根据权利要求1至5任意一项所述的方法，其中，所述方法还包括：
    根据所述目标对象的位置信息，在电子地图上标注所述目标对象的轨迹。
  7. 根据权利要求1至6任意一项所述的方法，其中，所述获取目标对象分别与多个采集装置之间的相对位置关系，包括：
    获取所述多个采集装置的采集图像；
    确定所述目标对象在所述每个采集装置的采集图像中的图像位置；
    基于所述图像位置，获取所述目标对象与每个采集装置之间的相对位置关系。
  8. 根据权利要求1至7任意一项所述的方法，其中，所述位置信息包括经纬度坐标；所述服务节点为相机组网的控制设备，或者，所述服务节点为所述相机组网中的任意一个采集装置。
  9. 一种定位方法，其中，应用于采集装置，包括：
    获取采集图像；
    基于所述采集图像，确定目标对象与所述采集装置之间的相对位置关系；
    向服务节点发送所述目标对象与所述采集装置之间的相对位置关系，其中，所述服务节点用于根据所述目标对象分别与多个采集装置之间的相对位置关系以及所述多个采集装置的位置信息，对所述目标对象进行定位，得到所述目标对象的位置信息。
  10. 根据权利要求9所述的方法，其中，所述相对位置关系包括偏角信息，所述基于所述采集图像，确定目标对象与所述采集装置之间的相对位置关系，包括：
    对所述采集图像进行目标检测，得到所述目标对象在所述采集图像中的图像位置；
    基于所述目标对象的图像位置，确定所述目标对象与所述采集装置之间的偏角信息，其中，所述偏角信息表示所述目标对象相对于所述采集装置的基准方向的偏离角度。
  11. 根据权利要求9或10所述的方法，其中，所述方法还包括：
    接收服务节点发送的目标特征；根据所述目标特征在所述采集图像中确定所述目标对象；
    或者，
    获取用户输入的标注信息；根据所述标注信息在所述采集图像中确定所述目标对象。
  12. 一种定位装置，其中，包括：
    获取模块，配置为获取目标对象分别与多个采集装置之间的相对位置关系，以及获取所述多个采集装置的位置信息，其中，所述多个采集装置 用于对目标对象进行图像采集；
    定位模块，配置为根据所述相对位置关系以及所述位置信息，对所述目标对象进行定位，得到所述目标对象的位置信息。
  13. 一种定位装置，其中，包括：
    采集模块，配置为获取采集图像；
    确定模块，配置为基于所述采集图像，确定目标对象与所述采集装置的相对位置关系；
    发送模块，配置为向服务节点发送所述目标对象与所述采集装置的相对位置关系，其中，所述服务节点用于根据所述目标对象分别与多个采集装置之间的相对位置关系以及所述多个采集装置的位置信息，对所述目标对象进行定位，得到所述目标对象的位置信息。
  14. 一种电子设备，其中，包括：
    处理器；
    用于存储处理器可执行指令的存储器；
    其中，所述处理器被配置为调用所述存储器存储的指令，以执行权利要求1至8中任意一项所述的方法，或者，以执行权利要求9至11中任意一项所述的方法。
  15. 一种计算机可读存储介质，其上存储有计算机程序指令，其中，所述计算机程序指令被处理器执行时实现权利要求1至8中任意一项所述的方法，或者，实现权利要求9至11中任意一项所述的方法。
  16. 一种计算机程序，其中，包括计算机可读代码，当所述计算机可读代码在电子设备中运行时，所述电子设备中的处理器执行用于实现如权利要求1至8中任意一项所述的方法，或者，实现如权利要求9至11中任意一项所述的方法。
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