	US 12,020,463 B2
	Positioning method, electronic device and storage medium
Chongshan Sheng, Hangzhou (CN); and Guofeng Zhang, Hangzhou (CN)
Assigned to Zhejiang SenseTime Technology Development Co., Ltd., Zhejiang (CN)
Filed by Zhejiang SenseTime Technology Development Co., Ltd., Zhejiang (CN)
Filed on Oct. 26, 2021, as Appl. No. 17/510,463.
Application 17/510,463 is a continuation of application No. PCT/CN2020/080464, filed on Mar. 20, 2020.
Claims priority of application No. 201910568726.8 (CN), filed on Jun. 27, 2019.
Prior Publication US 2022/0043164 A1, Feb. 10, 2022
Int. Cl. G06V 10/20 (2022.01); G01S 19/42 (2010.01); G06V 10/22 (2022.01); G06V 10/24 (2022.01)

CPC G06V 10/225 (2022.01) [G01S 19/42 (2013.01); G06V 10/245 (2022.01)]

16 Claims

1. A positioning method, comprising:

acquiring an identification image captured at a first site;

determining, according to identification information of a first identifier extracted from the identification image, position information of the first identifier; and

determining position information of the first site based on the position information of the first identifier and projection information of the first identifier in the identification image;

wherein determining the position information of the first site based on the position information of the first identifier and the projection information of the first identifier in the identification image comprises:

establishing, based on orientation information of the first identifier, a reference coordinate system where the first identifier is located;

determining reference coordinates of the first identifier in the reference coordinate system;

determining projection coordinates of the first identifier in the identification image according to the projection information of the first identifier in the identification image, wherein the projection information comprises at least one projection point and at least one projection position, the at least one projection point is at least one pixel point representing the first identifier in the identification image and the at least one projection position is at least one image position of the at least one projection point in the identification image;

determining relative position information between the first site and the first identifier based on the reference coordinates and the projection coordinates of the first identifier; and

determining the position information of the first site according to the position information of the first identifier and the relative position information.