CN112020630B - System and method for updating 3D models of buildings - Google Patents

Abstract

A system and method for updating a building model is provided, the method comprising obtaining a three-dimensional (3D) model of a building, the model comprising reference environment data associated with at least two reference locations of the building, and obtaining current environment data corresponding to a current location of the building. The method further comprises, in the 3D model, identifying a target reference location corresponding to the current location from the at least two reference locations of the building, and comparing the current environment data with the target reference environment data. The method further comprises: sending the target reference location to a user device when the current environment data matches the target reference environment data; and updating the 3D model with the current environment data when the current environment data does not statistically match the target reference environment data.

Description

System and method for updating a 3D model of a building

Technical Field

The present application relates to an indoor positioning and navigation service, and more particularly to a system and method for updating a 3D model of a building used in the indoor positioning and navigation service.

Background technique

Navigation applications (apps) installed in user devices are often used in daily life. Navigation applications usually require input of a destination and generate a route to navigate the user from his/her current location to the destination. Traditional navigation applications rely on positioning technologies such as the Global Positioning System (GPS) to continuously locate and update the location of the user device. Traditional navigation applications require the user device to be in an environment with a strong wireless signal and therefore cannot be used in any location where the wireless signal is weak. Moreover, traditional navigation applications cannot obtain the internal structure of a building and therefore cannot be used for indoor navigation.

Summary of the invention

According to one aspect of the present application, a system is provided. The system may include at least one storage medium, the storage medium including a set of instructions for updating a model of a building. At least one processor communicates with the at least one storage medium, and when executing the set of instructions, further instructs the at least one processor to: obtain a 3D model of a building, including reference environment data associated with at least two reference positions of the building. Obtain current environment data corresponding to the current position of the building from a user device. In the 3D model, a target reference position corresponding to the current position is identified from the at least two reference positions of the building, wherein the target reference position corresponds to target reference environment data. The current environment data corresponds to target reference environment data associated with the target reference position in the reference environment data of the 3D model. Compare the current environment data with the target reference environment data. When the current environment data matches the target reference environment data, send the target reference position to the user device. When the current environment data does not statistically match the target reference environment data, update the 3D model with the current environment data.

In some embodiments, the at least one processor may also be used to receive environmental data of the current location from at least two other user devices within a predetermined time immediately before the current time. Compare the environmental data of different user devices from the at least two other user devices with the current environmental data. Compare the environmental data of different user devices from the at least two other user devices with the corresponding reference environmental data. When the environmental data from different user devices all match the current environmental data and exceed a third threshold, but the environmental data from different user devices and the current environmental data do not match the target reference environmental data and exceed a fourth threshold, it is determined that the current environmental data of the current location does not statistically match the target reference environmental data.

In some embodiments, the 3D model of the building is a point cloud model or a mesh model, wherein the target reference environment data includes at least two target reference feature points corresponding to the environment details of the target reference position. The current environment data includes at least two current feature points corresponding to the environment details of the current position.

In some embodiments, in order to compare the current environment data with the target reference environment data, the at least one processor is further instructed to: compare the at least two current feature points with the target reference feature points. When the comparison returns a matching degree greater than a first threshold, it is determined that the current environment data matches the target reference environment data. When the comparison returns a matching degree less than or equal to the first threshold, it is determined that the current environment data does not match the target reference environment data.

In some embodiments, in order to compare the at least two current feature points with the at least two target reference feature points, the at least one processor is further instructed to: match each of the at least two current feature points with one of the at least two target reference feature points. Determine the difference between the color or grayscale value of each of the at least two current feature points and the color or grayscale value of the matching point in the at least two target reference feature points. Based on the difference, generate the degree of match between the current environment data of the building and the target reference environment data of the 3D model of the building.

In some embodiments, after determining that the current environment data statistically does not match the target reference environment data, further instructing the at least one processor to: determine at least two unmatched feature points, wherein the color or grayscale value of each of the at least two unmatched points is different from the color or grayscale value of the corresponding target reference feature point. Select some or all of the unmatched feature points from the at least two unmatched feature points. Based on the selected some or all of the unmatched feature points, determine an unmatched area in the current environment data.

In some embodiments, in order to update the 3D model of the building with the current environment data, the at least one processor is further instructed to: determine a first area in the target reference environment data of the 3D model of the building, which corresponds to the mismatch area in the current environment data. Based on the mismatch area in the current environment data, update the first area in the target reference environment data of the 3D model of the building to generate an updated 3D model of the building.

In some embodiments, the first area in the 3D model of the building is determined using a multi-point perspective (PNP) method.

In some embodiments, based on the unmatched area in the current environment data, in order to update the first area in the target reference environment data of the 3D model of the building, the at least one processor is further instructed to: determine a matching area in the current environment data. Determine a second area in the target reference environment data of the 3D model of the building that corresponds to the matching area. Mark the matching area in the current environment data as the second area in the 3D model of the building. Mark the unmatched area in the current environment data as the first area in the 3D model of the building, and update the first area of the 3D model of the building based on the matching area marked as the second area.

In some embodiments, the building is closed or semi-closed, and the image of the building is taken by a user device in the building.

According to another aspect of the present application, a method is provided. The method can be implemented on a computing device having at least one storage device, the storage device storing a set of instructions for updating a model of a building, and at least one processor communicating with the at least one storage device, the method comprising: obtaining a 3D model of a building, including reference environment data associated with at least two reference positions of the building. Obtaining current environment data corresponding to the current position of the building from a user device. In the 3D model, a target reference position corresponding to the current position is identified from the at least two reference positions of the building, the target reference position corresponding to the target reference environment data. The current environment data corresponds to the target reference environment data associated with the target reference position in the reference environment data of the 3D model. Compare the current environment data with the target reference environment data. When the current environment data matches the target reference environment data, send the target reference position to the user device. When the current environment data does not statistically match the target reference environment data, update the 3D model with the current environment data.

According to another aspect of the present application, a system is provided. The system may include at least one storage medium, including a set of instructions for updating a model of a building. At least one processor communicates with the at least one storage medium, wherein when executing the set of instructions, the at least one processor is used to: obtain a 3D model of a building, including reference environment data associated with at least two reference positions of the building. Receive and accept a connection request from a user device. Detect a client application executed on the user device, the client application collects environment information of the user device from one or more sensors of the user device and automatically communicates with the system through a network. Communicate with the client application executed on the user device to receive a positioning request. Based on the environment information detected by the one or more sensors of the user device, obtain the current environment data corresponding to the current position of the building from the client application of the user device. In the 3D model, identify a target reference position corresponding to the current position from the at least two reference positions of the building, wherein the target reference environment data corresponding to the target reference position. The current environment data corresponds to the target reference environment data associated with the target reference position in the reference environment data of the 3D model. Compare the current environment data with the target reference environment data. When the current environment data matches the target reference environment data, a communication signal is sent to the user device, wherein the communication signal can be constructed to include a command and the target reference position, and the command can be configured to cause the user terminal to present the generated target reference position on a display of the user device. When the current environment data does not statistically match the target reference environment data, the 3D model is updated with the current environment data.

According to another aspect of the present application, a method is provided. The method can be implemented on a computing device having at least one storage device, the storage device storing a set of instructions for updating a model of a building, and at least one processor communicating with the at least one storage device, the method comprising: obtaining a 3D model of a building, including reference environment data associated with at least two reference positions of the building. Receiving and accepting a connection request from a user device. Detecting a client application executed on the user device, the client application collecting environment information of the user device from one or more sensors of the user device and automatically communicating with the system through a network. Communicating with the client application executed on the user device to receive a positioning request. Based on the environment information detected by the one or more sensors of the user device, obtaining the current environment data corresponding to the current position of the building from the client application of the user device. In the 3D model, the target reference position corresponds to the target reference environment data. The current environment data corresponds to the target reference environment data associated with the target reference position in the reference environment data of the 3D model. Comparing the current environment data with the target reference environment data. When the current environment data matches the target reference environment data, a communication signal is sent to the user device, wherein the communication signal is constructed to include a command and the target reference position, and the command is configured to cause the user terminal to present the generated target reference position on a display of the user device. When the current environment data statistics do not match the target reference environment data, the 3D model is updated with the current environment data.

According to another aspect of the present application, a non-transitory computer-readable medium is provided. The non-transitory computer-readable medium may include at least one set of instructions for updating a model of a building, wherein when executed by at least one processor of an electronic terminal, the at least one set of instructions instructs the at least one processor to perform an action: obtaining a 3D model of a building, including reference environment data associated with at least two reference positions of the building. Obtaining current environment data corresponding to the current position of the building from a user device. In the 3D model, a target reference position corresponding to the current position is identified from the at least two reference positions of the building, wherein the target reference position corresponds to target reference environment data. The current environment data corresponds to target reference environment data associated with the target reference position in the reference environment data of the 3D model. Compare the current environment data with the target reference environment data. When the current environment data matches the target reference environment data, send a communication signal including the target reference position to the user device. When the current environment data statistically does not match the target reference environment data, update the 3D model with the current environment data.

Some additional features of the present application may be explained in the following description. Some additional features of the present application will be apparent to those skilled in the art through study of the following description and corresponding drawings or understanding of the production or operation of the embodiments. The features of the present application may be realized and achieved through practice or use of the methods, means and combinations of various aspects of the specific embodiments described below.

BRIEF DESCRIPTION OF THE DRAWINGS

The present application will be further described by exemplary embodiments. These exemplary embodiments will be described in detail by the accompanying drawings. The accompanying drawings are not drawn to scale. These embodiments are non-limiting exemplary embodiments, in which the same numbers in each figure represent similar structures, wherein:

FIG1 is a schematic diagram of an exemplary indoor positioning and navigation system according to some embodiments of the present application;

2 is a schematic diagram of exemplary hardware and software components of a computing device according to some embodiments of the present application, on which a server and/or a user device may be implemented;

3 is a schematic diagram of exemplary hardware and/or software components of an exemplary mobile device on which a user device or a provider terminal may be implemented according to some embodiments of the present application;

FIG4 is a block diagram of an exemplary processing engine according to some embodiments of the present application;

FIG5 is a block diagram of an exemplary processing module according to some embodiments of the present application;

FIG6 is a flowchart of an exemplary process for updating a 3D model of a building according to some embodiments of the present application;

7 is a flow chart of an exemplary process for comparing current environmental data with target reference environmental data;

FIG8 is a flowchart of updating a 3D model of a building according to some embodiments of the present application;

FIG9 is a flowchart of updating a first area in a 3D model of a building based on an unmatched area in current environment data according to some embodiments of the present application;

10A-10E are schematic diagrams of an exemplary process for updating a 3D model of a building according to some embodiments of the present application;

FIG11 is a schematic diagram of an exemplary screen interface of a user device associated with indoor positioning and navigation services according to some embodiments of the present application.

Detailed ways

The following description is intended to enable one of ordinary skill in the art to implement and utilize the present application, and the description is provided in the context of a specific application scenario and its requirements. It will be apparent to one of ordinary skill in the art that various changes may be made to the disclosed embodiments, and that the general principles defined in the present application may be applied to other embodiments and application scenarios without departing from the principles and scope of the present application. Therefore, the present application is not limited to the described embodiments, but should be given the broadest scope consistent with the claims.

The terms used in this application are only used to describe specific exemplary embodiments and do not limit the scope of this application. The singular forms "one", "an" and "the" used in this application may also include plural forms unless the context clearly indicates an exception. It should also be understood that, as in the specification of this application, the terms "include" and/or "comprise" only indicate the presence of the features, wholes, steps, operations, components and/or parts, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, components, parts and/or combinations thereof.

The features and characteristics of the present application, as well as the methods of operation, the functions of the relevant elements of the structure, the combination of the parts, and the economy of manufacture become apparent after considering the description of the drawings which form a part of the present application. However, it should be understood that the drawings are for illustration and description purposes only and are not intended to limit the scope of the present application. It should be understood that the drawings are not drawn to scale.

Flowcharts are used in this application to illustrate the operations performed by the system according to some embodiments of the application. It should be understood that the operations in the flow charts may not be performed in order. Instead, the various steps may be processed in reverse order or simultaneously. At the same time, one or more other operations may also be added to these flow charts. One or more operations may also be deleted from the flow charts.

Unless otherwise specified, the term "current location" in this application refers to a part of a building that the user device is currently detecting or the location of a building displayed on a photo or video taken in real time by the user device. The term "location of the user device" in this application refers to the location point where the user is standing.

It should be noted that the terms "first threshold", "second threshold", "third threshold", "fourth threshold" and "fifth threshold" are preset conditions associated with the corresponding determinations. For better understanding, exemplary values of these thresholds are given in the present application, but these exemplary values should not be limiting.

One aspect of the present application relates to a system and method for updating a 3D model of a building for providing indoor positioning and navigation services. For example, a server may construct a 3D model of a building that does not contain any posters. At least two user devices may download the 3D model of the building from the server and provide indoor navigation services to at least two users based on the 3D model of the building. A few days later, a poster may be posted on the wall. When the user device provides indoor navigation services, the user device may continuously capture photos of the user's current location. The server may identify a target wall (without a poster) from all walls in the 3D model (e.g., based on environmental details such as size, shape, texture, color, other objects on the wall) as a target reference position corresponding to the wall in the photo (with a poster). The server may determine that the target wall in the 3D model does not match the wall in the photo statically because all photos captured by the user device are the same (e.g., contain posters) and are different from the wall in the 3D model that does not contain posters. Then, based on the photos, the server may update the 3D model (e.g., by adding the poster on the wall to the 3D model).

FIG. 1 is a schematic diagram of an exemplary indoor positioning and navigation system 100 shown in some embodiments of the present application. For example, the indoor positioning and navigation system 100 can provide indoor positioning and navigation services to users. The indoor positioning and navigation system 100 can be used in closed or semi-closed buildings. The building may include, but is not limited to, a shopping mall, a supermarket, an airport terminal, an indoor parking garage, etc., or any combination thereof. The indoor positioning and navigation system 100 may include a server 110, a network and/or cloud 120, a user device 130, and a memory 150. The server 110 may include a processing engine 112.

The server 110 may be configured to process information and/or data related to the model of the building. For example, based on the image of the building sent from the user device 130, the server 110 may update the 3D model of the building. In some embodiments, the server 110 may be a single server or a server group. The server group may be centralized or distributed (for example, the server 110 may be a distributed system). In some embodiments, the server 110 may be local or remote. For example, the server 110 may access information and/or data stored in the user device 130 and/or the memory 140 via a network and/or cloud 120. For another example, the server 110 may be directly connected to the user device 130 and/or the memory 140 to access the stored information and/or data. In some embodiments, the server 110 may be implemented on a cloud platform. As an example only, the cloud platform may include a private cloud, a public cloud, a hybrid cloud, a community cloud, a distributed cloud, an internal cloud, a multi-layer cloud, etc., or any combination thereof. In some embodiments, the server 110 may be executed on a computing device 200 including one or more components described in FIG. 2 of the present application.

In some embodiments, the server 110 may include a processing engine 112. The processing engine 112 may process information and/or data related to the indoor positioning and navigation services described in the present application. For example, the processing engine 112 may obtain current environmental data corresponding to the current location of the building from the user device 130. In some embodiments, the processing engine 112 may include one or more processing engines (e.g., a single-chip processing engine or a multi-chip processing engine). By way of example only, the processing engine 112 may include one or more hardware processors, such as a central processing unit (CPU), an application-specific integrated circuit (ASIC), an application-specific instruction set processor (ASIP), a graphics processing unit (GPU), a physical processing unit (PPU), a digital signal processor (DSP), a field programmable gate array (FPGA), a programmable logic device (PLD), a controller, a microcontroller unit, a reduced instruction set computer (RISC), a microprocessor, etc., or any combination thereof.

The network and/or cloud 120 can facilitate the exchange of information and/or data. In some embodiments, one or more components of the indoor positioning and navigation system 100 (e.g., server 110, user device 130, and memory 140) can transmit information and/or data to other components in the indoor positioning and navigation system 100 through the network and/or cloud 120. For example, the server 110 can receive current environment data (e.g., photos) from the user device 130 via the network and/or cloud 120. In some embodiments, the network and/or cloud 120 can be any type of wired or wireless network, or a combination thereof. By way of example only, the network and/or cloud 120 may include a wired network, a wireless network, a fiber optic network, a telecommunications network, an intranet, the Internet, a local area network (LAN), a wide area network (WAN), a wireless local area network (WLAN), a metropolitan area network (MAN), a public switched telephone network (PSTN), a Bluetooth network, a ZigBee network, a near field communication (NFC) network, a global system mobile communications (GSM) network, a code division multiple access (CDMA) network, a time division multiple access (TDMA) network, a general packet radio service (GPRS) network, an enhanced data rate for GSM evolution (EDGE) network, a wideband code division multiple access (WCDMA) network, a high speed downlink packet access (HSDPA) network, a long term evolution (LTE) network, a user datagram protocol (UDP) network, a transmission control protocol/internet protocol (TCP/IP) network, a short message service (SMS) network, a wireless application protocol (WAP) network, an ultra-wideband (UWB) network, infrared, etc., or any combination thereof. In some embodiments, the network and/or cloud 120 may include one or more network access points. For example, the network and/or cloud 120 may include a wired or wireless network access point, such as a base station and/or an Internet exchange point 120-1, 120-2, ..., through which the indoor positioning and navigation system 100 may be connected to the network and/or cloud 120 to exchange data and/or information therebetween.

In some embodiments, the server 110 may be remote from the user device 130, and the network and/or cloud 120 may be a wireless network such as the Internet. For example, the user device 130 may send information related to indoor positioning and navigation services (e.g., a specific location of a building, a photo of a destination) to the server 110 via the network and/or cloud 120. The network and/or cloud 120 may provide the user device 130 with indoor positioning and navigation services.

In some embodiments, the server 110 may be remote from the user device 130, and the network and/or cloud 120 may be a cloud platform. For example, the user device 130 may send information related to indoor positioning and navigation services to the cloud platform. The server 110 may access the cloud platform and obtain information sent by the user device 130. In some embodiments, the cloud platform may store information sent by at least two user devices 130. The server 110 may collect information related to a specific building and update a 3D model of the building based on the information sent by at least two user devices 130. Based on the updated 3D model of the building, the server 110 may provide indoor positioning and navigation services to the user device 130.

In some embodiments, the server 110 may be a local processor, and the network and/or cloud 120 may be a local wireless network, such as a WLAN, a Bluetooth network, NFC, a ZigBee network. The server 110 may be installed in a specific building and may store a 3D model of the building. Based on the 3D model of the building, the server 110 may provide indoor positioning and navigation services to user devices 130 in the building. The server 110 may also obtain information about the building from at least two user devices 130 and update the 3D model of the building.

In some embodiments, the user of the user device 130 (also referred to as the requester) can use the user device 130 to send a service request for indoor positioning and navigation services to the server 110, or receive services and/or information or instructions from the server 110. In some embodiments, the user device 130 may include a mobile device 130-1, a tablet computer 130-2, a laptop computer 130-3, a motor vehicle built-in device 130-4, etc., or any combination thereof. In some embodiments, the mobile device 130-1 may include a smart home device, a wearable device, a smart mobile device, a virtual reality device, an augmented reality device, a camera, etc., or any combination thereof. In some embodiments, the smart home device may include smart lighting devices, smart appliance control devices, smart monitoring devices, smart TVs, smart cameras, intercoms, etc., or any combination thereof. In some embodiments, the wearable device may include a smart bracelet, a smart pedal, smart glass, a smart helmet, a smart watch, smart clothing, a smart backpack, a smart accessory, a smart camera, etc., or any combination thereof. In some embodiments, the smart mobile device may include a smart phone, a personal digital assistant (PDA), a gaming device, a navigation device, a point of sale (POS), etc., or any combination thereof. In some embodiments, the virtual reality device and/or the augmented virtual reality device may include a virtual reality helmet, virtual reality glasses, virtual reality goggles, augmented reality helmets, augmented reality glasses, augmented reality goggles, etc., or any combination thereof. For example, the virtual reality device and/or the augmented reality device may include Google Glass ^TM , RiftCon ^TM , Fragments ^TM , GearVR ^TM , etc. In some embodiments, the motor vehicle built-in device 130-4 may include an on-board computer, an on-board TV, etc. In some embodiments, the user device 130 may be a device with positioning technology for locating the location of the requester and/or the user device 130. In some embodiments, the user device 130 may send positioning information to the server 110. In some embodiments, the user device 130 may send an indoor positioning and navigation service request and information related to the indoor positioning and navigation service request (e.g., a photo of the current location of the building, a destination) to the server 110. The server 110 may process the information and provide the user device 130 with indoor positioning and navigation services. For example, the server 110 may generate an estimated location of the user device, or a route from the estimated location of the user device to the destination to the user device 130. The user device 130 may display the estimated location of the user device and a route from the estimated location of the user device to the destination on an electronic map on a display interface (eg, a screen) or a mobile application (app) installed in the user device 130 .

The memory 140 may store data and/or instructions. In some embodiments, the memory 140 may store data obtained from the user device 130. In some embodiments, the memory 140 may store data and/or instructions used by the server 110 to execute or use to complete the exemplary methods described in the present application. In some embodiments, the memory 140 may include a large capacity memory, a removable memory, a volatile read-write memory, a read-only memory (ROM), etc. or any combination thereof. Exemplary large capacity memory may include a disk, an optical disk, a solid-state disk, etc. Exemplary removable memory may include a flash drive, a floppy disk, an optical disk, a memory card, a compressed disk, a tape, etc. Exemplary volatile read-write memory may include a random access memory (RAM). Exemplary RAM may include a dynamic random access memory (DRAM), a double data rate synchronous dynamic random access memory (DDRSDRAM), a static random access memory (SRAM), a thyristor random access memory (T-RAM), and a zero capacitance random access memory (Z-RAM), etc. Exemplary read-only memories may include mask read-only memory (MROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), compact disk read-only memory (CD-ROM), and digital versatile disk read-only memory, etc. In some embodiments, the memory 140 may be implemented on a cloud platform. By way of example only, the cloud platform may include a private cloud, a public cloud, a hybrid cloud, a community cloud, a distributed cloud, an internal cloud, a multi-layer cloud, etc., or any combination thereof.

In some embodiments, the memory 140 may be connected to a network and/or cloud 120 to communicate with one or more components of the indoor positioning and navigation system 100 (e.g., server 110 user device 130). One or more components in the indoor positioning and navigation system 100 may access data or instructions stored in the memory 140 via the network and/or cloud 120. In some embodiments, the memory 140 may be directly connected to or communicate with one or more components in the indoor positioning and navigation system 100 (e.g., server 110, user device 130). In some embodiments, the memory 140 may be part of the server 110.

In some embodiments, one or more components of the indoor positioning and navigation system 100 (e.g., server 110, user device 130) can access the memory 140. In some embodiments, when one or more conditions are met, one or more components of the indoor positioning and navigation system 100 can read and/or modify information related to the requester and/or the model of the building. For example, after completing a service, the server 110 can read and/or modify the information of one or more users.

It should be noted that the application scenario shown in Figure 1 is only for illustration purposes and is not intended to limit the scope of the present application. For example, the indoor positioning and navigation system 100 can be used as a positioning system.

2 is a schematic diagram of exemplary hardware and software components of a computing device 200 according to some embodiments of the present application, on which the server 110 and/or the user device 130 may be implemented. For example, the processing engine 112 may be implemented on the computing device 200 and perform the functions of the processing engine 112 disclosed in the present application.

The computing device 200 can be used to implement the indoor positioning and navigation system of the present application. The computing device 200 can be implemented by any component of the indoor positioning and navigation service as described herein. In FIG. 2, only one such computer device is shown for convenience purposes only. At the time of submitting this application, it should be understood by those skilled in the art that the computer functions related to the indoor positioning and navigation service described herein can be implemented in a distributed manner on multiple similar platforms to distribute the processing load.

For example, the computing device 200 may include a communication port 250 connected to a network to enable data communication. The computing device 200 may also include a processor (e.g., processor 220) in the form of one or more processors (e.g., logic circuits) for executing program instructions. For example, the processor may include an interface circuit and a processing circuit therein. The interface circuit may be configured to receive an electrical signal from the bus 210, wherein the electrical signal encoding is used for processing structured data and/or instructions of the circuit. The processing circuit may perform logical calculations and then determine the conclusion, result, and/or instruction encoding as an electrical signal. Then, the interface circuit may send an electrical signal from the processing circuit via the bus 210.

The exemplary computing device may include an internal communication bus 210, program storage and different forms of data storage, including, for example, a disk 270, a read-only memory (ROM) 230 or a random access memory (RAM) 240, for various data files processed and/or transmitted using the computing device. The exemplary computing device may also include program instructions that can be executed by the processor 220 stored in ROM 230, RAM 240 and/or other forms of non-transitory storage media. The methods and/or processes of the present application can be implemented in the form of program instructions. The computing device 200 also includes an I/O module 260 that supports input/output between the computer and other components. The computing device 200 can also receive programming and data via network communications.

For illustration only, only one CPU and/or processor is shown in FIG. 2 . Multiple CPUs and/or processors may also be considered; therefore, the operations and/or method steps described in this application as being performed by one CPU and/or processor may also be performed jointly or individually by multiple CPUs and/or processors. For example, if in this application, the CPU and/or processor of the computing device 200 performs steps A and B, it should be understood that steps A and B may also be performed jointly or independently by two different CPUs and/or processors of the computing device 200 (e.g., the first processor performs step A, the second processor performs step B, or the first and second processors perform steps A and B jointly).

FIG. 3 is a schematic diagram of exemplary hardware and/or software components of an exemplary mobile device 300 on which a user device 130 or a provider terminal 140 can be implemented according to some embodiments of the present application. As shown in FIG. 3 , the mobile device 300 may include a communication platform 310, a display 320, a graphics processing unit (GPU) 330, a central processing unit (CPU) 340, an I/O 350, a memory 360, and a storage 390. The CPU may include an interface circuit and a processing circuit similar to the processor 220. In some embodiments, any other suitable components, including but not limited to a system bus or a controller (not shown), may also be included in the mobile device 300. In some embodiments, a mobile operating system 370 (e.g., iOS ^TM , Android ^TM , Windows Phone ^TM , etc.) and one or more application programs 380 may be loaded from the storage 390 into the memory 360 so as to be executed by the CPU 340. The application program 380 may include an indoor positioning and navigation application program (APP) installed on the mobile device 300 for receiving information associated with the user (e.g., current location, destination, route preference), and providing indoor positioning and navigation services based on the information. In some embodiments, the APP can be used as an electronic map. The user's interaction with the information flow can be implemented through the I/O device 350 and provided to the processing engine 112 and/or other components of the system 100 via the network and/or the cloud 120.

In order to implement the various modules, units and their functions described in this application, a computer hardware platform can be used as one or more hardware platforms of the elements described herein (e.g., the indoor positioning and navigation system 100, and/or other components of the indoor positioning and navigation system 100 described with respect to Figures 1-11). The hardware elements, operating system and programming language of the computer are traditional in nature, assuming that those skilled in the art are familiar enough with this technology to handle the supply services described herein. A computer with a user interface element can be used to implement a personal computer (PC) or other type of workstation or terminal device, and if properly programmed, the computer can also act as a server. It is known that those skilled in the art should be familiar with the structure, programming and general operation of the computer device, and therefore, the figure should be self-explanatory.

It will be appreciated by those skilled in the art that when an element of the indoor positioning and navigation system 100 is executed, the element may be executed by an electrical signal and/or an electromagnetic signal. For example, when the user device 130 processes a task such as making a determination, identifying or selecting an object, the user device 130 may operate a logic circuit in its processor to process such a task. When the user device 130 issues a service request to the server 110, the processor of the service user device 130 may generate an electrical signal encoding the service request. Then, the processor of the user device 130 may send the electrical signal to an output port. If the user device 130 communicates with the server 110 via a wired network, the output port may be physically connected to a cable, which may also send the electrical signal to the input port of the server 110. If the user device 130 communicates with the server 110 via a wireless network, the output port of the user device 130 may be one or more antennas, which may convert the electrical signal into an electromagnetic signal. In an electronic device such as the user device 130 and/or the server 110, when its processor processes instructions, issues instructions and/or performs actions, the instructions and/or actions are performed by electrical signals. For example, when the processor retrieves or saves data from a storage medium (e.g., memory 140), it can send an electrical signal to a read/write device of the storage medium, which can read or write structured data in the storage medium. The structured data can be transmitted to the processor via a bus of the electronic device in the form of an electrical signal. Here, the electrical signal can refer to one electrical signal, a series of electrical signals, and/or at least two discontinuous electrical signals.

FIG4 is a block diagram of an exemplary processing engine according to some embodiments of the present application. The processing engine 112 can communicate with a computer-readable memory (e.g., memory 140, user device 130) and can execute instructions stored in a computer-readable storage medium. In some embodiments, the processing engine 112 may include a collection module 410, a processing module 420, an update module 430, a communication module 440, and a storage module 450.

The acquisition module 410 may be configured to acquire information corresponding to the indoor positioning and navigation system 100. In some embodiments, the acquisition module 410 may acquire a 3D model of a building. The 3D model of the building may include at least two reference locations associated with reference environmental data. The acquisition module 410 may acquire current environmental data corresponding to the current location of the building from the user device 130 at the current time. The acquisition module 410 may receive environmental data of the current location from at least two user devices within a predetermined time immediately before the current time.

The processing module 420 can be configured to process process data associated with the indoor positioning and navigation system 100. The processing module 420 can include an identification unit 510, a comparison unit 520, and a processing unit 530. The identification unit 510 can be configured to identify a target reference position relative to the current position from at least two reference positions of the 3D model of the building. The comparison unit 520 can be configured to compare the current environment data with the target reference environment data. The processing unit 530 can determine whether the current environment data of the current position matches the target reference environment data. The processing unit 530 can also determine a first area in the target reference environment data corresponding to an unmatched area in the current environment data, and a second area in the target reference environment data corresponding to a matching area in the current environment data. More descriptions of the processing module 420 can be found elsewhere in this application (e.g., Figure 5 and its description).

The update module 430 may be configured to update the 3D model of the building. In some embodiments, based on the current environment data, the update module 430 may update the 3D model. In some embodiments, when the current environment data does not match the target reference environment data statistically, the update module 430 may update the 3D model. In some embodiments, the update module 430 may update the first area in the target reference environment data of the 3D model of the building, which corresponds to the unmatched area in the current environment data. For example, the update module 430 may update the first area in the target reference environment data of the 3D model of the building based on the unmatched area in the current environment data to generate an updated 3D model of the building. More specifically, the update module 430 may first mark the matching area in the current environment data as the second area in the 3D model of the building. Then, based on the matching area marked as the second area, the update module 430 may mark the unmatched area in the current environment data as the first area in the 3D model of the building to update the first area in the 3D model of the building. After the matching area and the unmatched area are marked, the update module 430 may update the first area in the 3D model of the building based on the unmatched area in the current environment data.

The communication module 440 can be configured to facilitate communication between components of the indoor positioning and navigation system 100. In some embodiments, the communication module 440 can send an electrical signal to the user device. For example, when the current environment data matches the target reference environment data, the communication module 440 can send an electrical signal including the target reference position to the user device. The communication module 440 can send the communication signal to the user device via the Internet 120.

The storage module 450 may be configured to store information corresponding to the indoor positioning and navigation system 100. In some embodiments, the storage module 450 may store current environment data, unmatched environment data, and/or updated 3D models of buildings.

It should be noted that the above description of the processing engine 112 is provided for illustrative purposes and is not intended to limit the scope of the present application. For those of ordinary skill in the art, various changes and modifications can be made according to the description of the present application. However, these changes and modifications will not deviate from the scope of the present application. For example, the acquisition module 410 and the processing module 420 can be combined into a single module, which acquires and processes data associated with the indoor positioning and navigation system 100.

FIG5 is a block diagram of an exemplary processing module according to some embodiments of the present application. The processing module 420 may include an identification unit 510 , a comparison unit 520 , and a processing unit 530 .

The recognition unit 510 may be configured to recognize a target reference position relative to the current position from at least two reference positions of the 3D model of the building. In some embodiments, the recognition unit 510 may recognize the target reference position relative to the current position by recognizing the target reference environment data from the reference environment data and the corresponding current environment data. In some embodiments, the recognition unit 510 may compare the current environment data with the reference environment data to recognize the target reference environment data. For example, the recognition unit 510 may compare a photo of the current position with the reference environment data of the 3D model of the building.

The comparison unit 520 may be configured to compare the current environment data with the target reference environment data. In some embodiments, the comparison unit 520 may compare the current environment data with the target reference environment data by comparing at least two current feature points in the current environment data with at least two target reference feature points in the target reference environment data. The comparison unit 520 may determine whether each of the target reference feature points (if any) is the same as the corresponding current feature point. In some embodiments, the comparison unit 520 may determine the difference between each of the at least two current feature points and the corresponding target reference feature point in color or grayscale value.

The processing unit 530 may be configured to determine whether the current environment data of the current location matches the target reference environment data. The processing unit 530 may determine whether the current feature point matches the target reference feature point. In some embodiments, the processing unit 530 may generate a degree of match between the current environment data of the building and the target reference environment data of the 3D model of the building. For example, the processing unit 530 may generate a degree of match based on the difference between each of at least two current feature points and the corresponding target reference feature point. The processing unit 530 may determine whether the degree of match is greater than a first threshold. In some embodiments, the processing unit 530 may select some or all unmatched feature points from at least two current feature points. The processing unit 530 may determine an unmatched area in the current environment data based on some or all of the selected unmatched feature points. The processing unit 530 may determine a first area in the target reference environment data of the 3D model of the building corresponding to the unmatched area in the current environment data. The processing unit 530 may determine a matching area in the current environment data, and a second area in the target reference environment data of the 3D model of the building corresponding to the matching area.

FIG6 is a flowchart of an exemplary process for updating a 3D model of a building according to some embodiments of the present application. Process 600 can be performed by an indoor positioning and navigation system 100. For example, process 600 can be implemented as a set of instructions (e.g., an application) stored in a memory (e.g., memory 140, ROM 230, RAM 240, or memory 390). In some embodiments, a set of instructions can be embedded in the memory. A processor (e.g., server 110, processing engine 112, or processor 220, CPU 340) can execute a set of instructions, and when executing the instructions, it can be configured to execute process 600. The operation of the process shown below is for illustrative purposes only. In some embodiments, process 600 can be completed using one or more additional operations not described, and/or one or more operations not discussed. In addition, the order of the process operations shown in FIG6 and described below is not restrictive.

In 610, the acquisition module 410 can acquire a 3D model of a building. In some embodiments, the building can be closed or semi-closed. For example, a closed building can be a building that is completely or substantially covered by walls, windows, ceilings, etc., such as but not limited to shopping malls, office buildings, skyscrapers, airport terminals, etc., and semi-closed buildings can include but are not limited to indoor parking garages, stadiums, or buildings that are partially covered by walls and ceilings, or any combination thereof. The 3D model of the building can be a model of the internal structure of the building. The 3D model of the building can include at least two reference positions of the building. The reference position may include a floor, a corner, a wall, a ceiling, etc. For example, each wall in the building can be regarded as a reference position. The distance between each two reference positions can be the same or different. In some embodiments, the 3D model of the building can be associated with reference environment data. Each reference position can be associated with a portion of the reference environment data (or referred to as candidate environment data). In some embodiments, the 3D model may include a point cloud model, a mesh model, a wireframe model, a surface model, a solid model, etc., or any combination thereof.

The 3D model of the building can be used by the indoor positioning and navigation system 100 to provide indoor positioning and navigation services for the user device 130. In some embodiments, the wireless signals (e.g., WIFI, GPS, cellular network, Bluetooth) at some locations of the building may be absorbed or blocked by the rooms or walls of the building and become very poor. People at these locations (e.g., users of the user device 130) may not be able to easily find their location and route because most traditional navigation systems or maps require wireless signals. Even if the wireless signal is good, positioning technology (e.g., WIFI positioning technology, GPS positioning technology, Bluetooth positioning technology) may also be inaccurate in buildings.

In some embodiments, a 3D model (e.g., a point cloud model) of a building may be generated by a processor. In some embodiments, a processor may collect reference environment data associated with at least two reference locations of a building. Each of the at least two reference locations of a building may correspond to a portion of the building. For example, a processor may collect at least two images (e.g., photos) or videos (which include at least two image frames) of a building. Each of the at least two reference locations of a building may be a portion of the building shown in at least one of the at least two images of the building. In some embodiments, the reference location may appear in multiple images.

In some embodiments, the processing engine 112 may generate a 3D model based on at least two images of the building using a 3D model algorithm. The 3D model algorithm may include, but is not limited to, a structure from motion (SFM) algorithm, a scale-invariant feature transform (SIFT) algorithm, an ANN feature matching algorithm, a random sample consensus (RANSAC) algorithm, etc., or any combination thereof. In some embodiments, the processing engine 112 may collect reference environment data through a camera, a laser device (e.g., a light detection and ranging (LiDAR) device), an ultrasonic device, a radar device, etc., or any combination thereof. In some embodiments, the 3D model of the building may be stored in the memory 140. The processing engine 112 may obtain the 3D model from the memory 140.

In 620, the acquisition module 410 may acquire current environment data corresponding to the current location of the user device from the user device. In some embodiments, the current environment of the current environment data may be a part of the building that the user device is currently detecting. In some embodiments, the user device of the user may continuously capture photos or take videos of his/her location in the building. The capture angle of the user device may be aligned with the user's perspective (e.g., the user may hold the user device in his/her hand). Alternatively, the capture angle of the user device may be fixed (e.g., the user device may be mounted on the user's vehicle) and the current location may change continuously as the vehicle moves. The current environment of the building may be the location of the building displayed in real time on the photo or video (i.e., the current location of the building). In some embodiments, the current environment data may include at least two environment details relative to the current location of the building. The environment details of the current location may include a ceiling, a wall, a column, a door, an object (e.g., a switch, a poster, a sign, a chair, a table, etc.), etc., or any combination thereof. The relevant information of the environment details may include the shape of the environment details, the size of the environment details, the color of the environment details, etc., or any combination thereof. In some embodiments, at least two current feature points may correspond to the environment details in the photo taken by the user device 130. For example, the at least two current feature points may include edge points of environmental details, endpoints of environmental details, points having relatively large color or grayscale value differences from nearby points, etc., or any combination thereof.

In some embodiments, the acquisition module 410 may receive and accept a connection request from the user device 130. When a connection request is received, the processing engine 112 may be able to obtain information sent from the user device 130. In some embodiments, the processing engine 112 may detect an application (e.g., a client application) executed on the user device. The client application may collect environmental information of the user device 130 from one or more sensors of the user device 130 and automatically communicate with the system (e.g., the navigation system 100) through the network and/or the cloud 120. The processing engine 112 may communicate with the client application executed on the user device 130 to receive a positioning request (e.g., a request to use positioning and/or navigation services). In some embodiments, based on the environmental information detected by one or more sensors of the user device, the acquisition module 410 may obtain current environmental data corresponding to the current location of the building from the client application of the user device.

In some embodiments, the user device 130 can obtain current environment data through sensors. The sensor may include but is not limited to a camera, a laser sensor, an ultrasonic sensor, a radar sensor, etc., or any combination thereof. The sensor may be installed on the user device 130 or integrated in the user device 130. In some embodiments, the user device may send the current environment data (e.g., one or more photos) to the processing engine 112 via wireless communication (e.g., the Internet, an intranet, a local area network, a Bluetooth network, etc.). The user device 130 may send the current environment data to the processing engine 112 in real time or substantially in real time. In some embodiments, the user device 130 may be located in a place where the wireless signal strength is insufficient to send the current environment data, or in a place where the strength of the wireless signal may change. In this case, the user device 130 may store the current environment data when the wireless signal is weak, and send it when the wireless signal is strong. In some embodiments, the user device 130 may send the current environment data to the processing engine 112 only when the user allows the user device to do so (e.g., by pressing a send button on the user device). In some embodiments, the user device 130 may compare the current environment data with the reference environment data of the 3D model of the building stored in the user device 130, and the user device 130 may obtain the target reference environment data corresponding to the current environment data. The user device 130 may send only the current environment data that does not match the target reference environment data of the 3D model of the building stored in the user device to the processing engine 112. In some embodiments, the current environment data may be pre-processed before being transmitted to the processing engine 112. For example, a photo of the current location may be compressed before being transmitted to the processing engine 112.

In 630, the identification unit 510 may identify a target reference position corresponding to the current position from at least two reference positions of the building in the 3D model. In some embodiments, the target reference position may correspond to target reference environment data. The target reference environment data may be a part of the reference environment data. The target reference environment data may include at least two target reference feature points corresponding to the environment details of the target reference position.

In some embodiments, the identification unit 510 can identify a target reference location corresponding to the current location by identifying target reference environment data corresponding to the current environment data in the reference environment data. The target reference environment data can include the most environmental details in the reference environment data that are similar to the environmental details in the current environment data.

In some embodiments, the recognition unit 510 may compare the current environment data with the reference environment data to identify the target reference environment data. For example, the recognition unit 510 may compare the photo of the current location with the reference environment data of the 3D model of the building. The location of the 3D model of the building that is most similar to the photo of the current location (e.g., having the largest number of similar environment details) may be identified as the target reference location. In some embodiments, the 3D model may include at least two reference locations, each corresponding to a portion of the reference environment data (also referred to as candidate environment data). For example, the recognition unit 510 may compare the current environment data at the current location with the candidate environment data at each of the at least two reference locations. Each comparison may include comparing the number and shape, color, and size of each environment detail in the current environment data with each candidate environment data. When the similarity of each shape, color, or size in the two environment details is greater than a second threshold value (e.g., 70%, 80%, 90%), the two environment details of the current environment data and the candidate environment data are respectively considered to be similar. For example, when the current environment includes two black cylindrical columns and a white rectangular column, the corresponding current environment data may include two black cylindrical columns and a white rectangular column. The reference environment data corresponding to the entire 3D model may include at least two pillars having different colors and shapes. The 3D model may include at least two reference positions, each corresponding to the candidate environment data having multiple pillars. The recognition unit 510 may recognize the candidate environment data having two black cylindrical pillars and a white rectangular pillar (or one black cylindrical pillar and one rectangular pillar if the other candidate environment data contains even fewer similar pillars) as the target reference environment data.

In 640, the comparison unit 520 can compare the current environment data with the target reference environment data. In some embodiments, the target reference environment data may include target reference feature points of at least two target reference positions. The current environment data may include at least two current feature points corresponding to the environmental details of the current position. In some embodiments, the comparison unit 520 can compare the current environment data with the target reference environment data by comparing the at least two current feature points with the at least two target reference feature points. More descriptions about the comparison between the current environment data and the target reference environment data can be found elsewhere in this application (e.g., FIG. 7 and its description).

In some embodiments, when the current environment data matches the target reference environment data, the communication module 440 may send a communication signal including the target reference position to the user device. The communication module 440 may send the communication signal to the user device via the Internet 120. In some embodiments, based on the target reference position corresponding to the current position of the building, the position of the user device may be determined. As used herein, the position of the user device may be the position where the user is standing, and the current position of the building may be the position where the user device is detecting or taking a photo. The position of the user device may be determined by a multi-point perspective (PNP) method based on the target reference position and the current environment data. In some embodiments, the user device may provide indoor positioning and navigation services (e.g., indoor augmented reality (AR) navigation services) to the user based on the position of the user device and the user's destination. In some embodiments, an application may be installed in the user device 130. The application may include maps associated with at least two cities, roads, buildings, and the like. The communication signal sent by the communication module 440 may include the name of the city, the name of the road, and the name of the building where the user device 130 is located. The application may control the user device 130 to display the corresponding map on the display interface of the user device 130. The communication signal may also include the coordinates of the user device 130 in the building, and the application may control the user device 130 to display a symbol (e.g., a circle, a dot) on the corresponding coordinates of the map to indicate the location of the user device. In some embodiments, the communication signal may also include a route from the location of the user device 130 to the destination. For example, the coordinates of some or all of the locations along the route may be stored in the communication signal. The user device 130 may display the route on a map by connecting and displaying the locations along the route based on their coordinates.

In some embodiments, the application may be an augmented reality (AR) application. For example, the AR application may control the user device 130 to display a real-time video continuously captured by a camera of the user device 130. Based on the communication signal, the AR application may determine the location of the user device 130, and based on the route, may determine the distance to the upcoming intersection and the direction that the user device should take at the intersection. The AR application may control the user device 130 to display an arrow on the real-time video relative to the direction and distance of the intersection on the display interface of the user device 130.

In 650, when the current environment data does not match the target reference environment data statistically, the update module 430 can update the 3D model with the current environment data. In some embodiments, the acquisition module 410 can receive the environment data of the current location from at least two other user devices within a predetermined time immediately before the current time. The processing engine 112 (e.g., the identification unit 510 and/or the comparison unit 520) can compare the environment data of different user devices from at least two other user devices with the current environment data. The processing engine 112 can also compare the environment data of different user devices from at least two other user devices with the corresponding reference environment data. When the environment data from different user devices all match the current environment data (that is, the user devices are taking the same photo), but the environment data from different user devices and the current environment data do not match the target reference environment data, the processing unit 530 can determine that the current environment data of the current location does not match the target reference environment data statistically. In some embodiments, when the environmental data from different user devices all match the current environmental data and exceed the third threshold, but the environmental data from different user devices and the current environmental data do not match the target reference environmental data and exceed the fourth threshold, the processing unit 530 can determine that the current environmental data at the current location does not match the target reference environmental data statistically. For example, a 3D model can be constructed immediately after the building is built, and posters may not be included therein. A few days later, posters can be posted on the wall, and at least two user devices can capture photos of the wall with posters. At least two user devices can send photos to the server, and the server can identify the wall (without posters) from all walls in the 3D model (for example, based on environmental details such as size, shape, texture, color, other objects on the wall, etc.) as the target reference location. The processing module 420 can determine that the current environmental data at the current location statically does not match the target reference environmental data because all photos captured by the user devices are the same (for example, containing posters) and are different from the target reference environmental data that does not contain posters. Then, based on the current environmental data, the update module 430 can update the 3D model (for example, by adding posters to the 3D model). In some embodiments, the third threshold may vary between 90% and 100%.The fourth threshold may vary between 30% and 70%.

Fig. 7 is a flow chart of an exemplary process for comparing current environment data with target reference environment data. Based on the comparison, processing engine 112 can determine whether current environment data matches target reference environment data. Process 700 can be performed by indoor positioning and navigation system 100. For example, process 700 can be implemented as a group of instructions (e.g., application) stored in a memory (e.g., memory 140, ROM230, RAM 240 or memory 390). In some embodiments, a group of instructions can be embedded in the memory. A processor (e.g., server 110, processing engine 112 or processor 220, CPU340) can execute a group of instructions, and when executing instructions, it can be configured to perform process 700. The operation of the process shown below is for illustration purposes only. In some embodiments, process 700 can be completed using one or more additional operations not described, and/or one or more operations not discussed. In addition, the order of the process operations shown in Figure 7 and described below is not restrictive.

In 710, the comparison unit 520 may compare the at least two current feature points with the target reference environment data. In some embodiments, each of the at least two current feature points may be a point in the current environment data. Each of the at least two current feature points may correspond to a target reference feature point in the target reference environment data (if any). The comparison unit 520 may determine whether each target reference feature point is identical to the corresponding current feature point. As used herein, two points are considered to be "identical" to each other if their coordinates and grayscale values or colors are identical.

In some embodiments, when the current feature point is identical to the corresponding target reference feature point (e.g., the same color and/or grayscale value), the processing unit 530 may determine that the current feature point matches the target reference feature point. In some embodiments, when the current feature point in the current position is different from the target reference feature point in the target reference position corresponding to the current position, the processing unit 530 may determine that the current feature point does not match the target reference feature point. Alternatively, the comparison unit 520 may determine the difference between each of at least two current feature points and the corresponding target reference feature point in color or grayscale value. When the difference between the current feature point and the corresponding target reference feature point is less than a fifth threshold, the processing unit 530 may determine that the current feature point matches the target reference point. Otherwise, the processing unit 530 may determine that the current feature point does not match the target reference point. In some embodiments, when there is no target reference feature point in the target reference position point corresponding to the current position point, the processing unit 530 may determine that the current feature point is not matched.

In some embodiments, the processing unit 530 may generate a degree of match between the current environment data of the building and the target reference environment data of the 3D model of the building. For example, based on the difference between each of the at least two current feature points and the corresponding target reference feature point, the processing unit 530 may generate a degree of match. The degree of match may be a ratio of the number of matched current feature points to the total number of at least two current feature points in the current environment data corresponding to the current location of the building. In some embodiments, the current location of the building may be divided into a number of regions. The degree of match for a region may be generated as a ratio of the count of matched current feature points in the region to the count of current feature points in the region.

At 720, the processing unit 530 may determine whether the degree of match is greater than a first threshold. In some embodiments, the degree of match may be a ratio of the number of matched feature points to the number of at least two current feature points. In some embodiments, the first threshold may vary between 50% and 90%. For example, the first threshold may be 50%, 60%, 70%, 80%, or 90%. When the compared degree of match is greater than the first threshold, the process 700 may proceed to 730. Otherwise, the process 700 may proceed to 740.

In 730, the processing unit 530 may determine that the current environment data matches the target reference environment data. In other words, the current position corresponding to the current environment data is determined to be the same or substantially the same as the target position corresponding to the target reference environment data.

In 740, the processing unit 530 may determine that the current environment data does not match the target reference environment data. In other words, it is determined that the current position corresponding to the current environment data is different from the target position corresponding to the target reference environment data.

FIG8 is a flowchart of an exemplary process for updating a 3D model of a building according to some embodiments of the present application. Process 800 can be performed by an indoor positioning and navigation system 100. For example, process 800 can be implemented as a set of instructions (e.g., an application) stored in a memory (e.g., memory 140, ROM 230, RAM 240, or memory 390). In some embodiments, a set of instructions can be embedded in the memory. A processor (e.g., server 110, processing engine 112, or processor 220, CPU 340) can execute a set of instructions, and when executing the instructions, it can be configured to execute process 800. The operation of the process shown below is for illustrative purposes only. In some embodiments, process 800 can be completed using one or more additional operations not described and/or without one or more operations discussed. In addition, the order of the process operations shown in FIG8 and described below is not restrictive.

In 810, the processing unit 530 may select some or all of the unmatched feature points from the at least two current feature points. For example, the processing unit 530 may determine at least two unmatched feature points from the at least two current feature points. The unmatched feature points may correspond to one or more regions (also referred to as unmatched regions) in the current environment data. In some embodiments, the unmatched feature points may also include some error points. The error points may be isolated, and operation 810 may include selecting some or all of the unmatched feature points that are not isolated. More descriptions of unmatched feature points may be found elsewhere in this application (e.g., FIG. 7 and its description).

In 820, the processing unit 530 may determine the mismatching region in the current environment data based on some or all of the selected feature points. In some embodiments, the mismatching region may be a region in the current environment data that contains the selected mismatching feature points. The mismatching region may be a regular region or an irregular region. For example, the shape of the mismatching region may be a circle, a square, a rectangle, a triangle, a star, etc., or any combination thereof.

In 830, the processing unit 530 may determine a first area in the target reference environment data of the 3D model of the building corresponding to the mismatched area in the current environment data. The shape and size of the first area may be the same as the mismatched area. The position of the first area in the target reference environment data of the 3D model of the building may correspond to the position of the mismatched area in the current environment data. For example, the mismatched area may be a 15×15 pixel area at the center of the current environment data. In this case, the first area may be a 15×15 pixel area at the center of the target reference environment data of the 3D model of the building.

In 840, based on the mismatched area in the current environment data, the update module 430 can update the first area in the target reference environment data of the 3D model of the building to generate an updated 3D model of the building. In some embodiments, the update module 430 can update the first area in the target reference environment data by replacing the first area with the mismatched area in the current environment data. For example, based on the corresponding current feature points in the mismatched area in the current environment data, all target reference feature points in the first area in the target reference environment data can be updated. More description about updating the first area based on the mismatched area can be found elsewhere in this application (e.g., Figure 9 and its description).

FIG. 9 is a flowchart of updating the first area in the 3D model of a building based on the mismatched area in the current environment data according to some embodiments of the present application. Process 900 can be performed by the indoor positioning and navigation system 100. For example, process 900 can be implemented as a group of instructions (e.g., application) stored in a memory (e.g., memory 140, ROM 230, RAM 240, or memory 390). In some embodiments, a group of instructions can be embedded in the memory. A processor (e.g., server 110, processing engine 112 or processor 220, CPU 340) can execute a group of instructions, and when executing the instructions, it can be configured to perform process 900. The operation of the process shown below is for illustration purposes only. In some embodiments, process 900 can be completed using one or more additional operations not described, and/or one or more operations not discussed. In addition, the order of the process operations shown in FIG. 9 and described below is not restrictive.

In 910, the processing unit 530 may determine a matching area in the current environment data. In some embodiments, the matching area may be adjacent to the non-matching area. For example, the matching area may extend into the non-matching area. In some embodiments, the matching area may be separated from the non-matching area. The degree of matching of the feature points in the matching area (e.g., described in FIG. 7 and its description) may be relatively high (e.g., 90%, 95%). In some embodiments, the matching area may be a regular area or an irregular area. For example, the shape of the matching area may be a circle, a square, a rectangle, a triangle, etc., or any combination thereof.

In 920, the processing unit 530 may determine a second area in the target reference environment data of the 3D model of the building corresponding to the matching area. The shape and size of the second area may be the same as the matching area. The position of the second area in the target reference environment data of the 3D model of the building may correspond to the position of the matching area in the current environment data.

In 930, the update module 430 may mark the matching area in the current environment data as the second area in the 3D model of the building. In some embodiments, based on the matching area marked as the second area, the update module 430 may match the current environment data with the target reference environment data. For example, based on the marking, each of the at least two current feature points may correspond to the target feature point.

In 940, based on the matching area marked as the second area, the update module 430 can mark the non-matching area in the current environment data as the first area in the 3D model of the building to update the first area in the 3D model of the building. In some embodiments, based on the non-matching area in the current environment data, the update module 430 can update the first area in the 3D model of the building. For example, based on the corresponding current feature points in the non-matching area in the current environment data, all target reference feature points in the first area in the target reference environment data can be updated. In some embodiments, some target reference feature points (e.g., 5%, 10%) in the first area match the corresponding current feature points. In this case, these matching target reference feature points in the first area can remain unchanged, while other target reference feature points (which are non-matching feature points) can be updated based on the corresponding current feature points.

10A-10E are schematic diagrams of an exemplary process for updating a 3D model of a building according to some embodiments of the present application.

Fig. 10A shows a portion of a building. As shown in Fig. 10A, a railing in a building may include two star symbols (ie, a normal star symbol 1010 on the left and an inverted star symbol 1020 on the right).

FIG10B shows a 3D model of a building (e.g., a 3D model of a railing). As shown in FIG10B , the 3D model of the railing may be a point cloud model including at least two target reference feature points corresponding to environmental details (e.g., railing, normal star symbol 1015, reverse star symbol 1025). The normal star symbol 1015 (or reverse star symbol 1025) is a 3D model of the normal star symbol 1010 (or reverse star symbol 1020) in the building.

Fig. 10C shows a photo taken by a user device (i.e., current environment data). As shown in Fig. 10C, the railing in the photo may include a common star symbol 1030 and a moon symbol 1040. The moon symbol 1040 may have been installed on the railing recently, and the 3D model has not been updated, so the 3D model does not include the moon symbol.

FIG10D illustrates a process of matching a photograph (as shown in FIG10C ) with a 3D model of a building (as shown in FIG10B ). Processing engine 112 may identify a left side of the 3D model of a railing that corresponds to the photograph (e.g., a reference location associated with the left side of the 3D model that includes a highest number of environmental details (e.g., normal star 1015) that are similar to environmental details in the photograph (e.g., normal star 1030)). Processing engine 112 may compare the photograph with the left side of the 3D model of the railing by comparing at least two current feature points (e.g., feature points 1030-a, 1030-b) with at least two target reference feature points (e.g., feature points 1015-a, 1015-b). In some embodiments, processing engine 112 may determine that the photograph does not match the left side of the 3D model. Processing engine 112 may update the 3D model of the railing by updating the left side of the 3D model based on the photograph. In some embodiments, the processing engine 112 may determine the area including the normal star symbol 1030 as a matching area, and determine the area including the moon symbol 1040 as an unmatching area. The processing engine 112 may first mark the corresponding area as a matching area in the paired 3D model, and based on the marked matching area, mark the corresponding area as an unmatching area to update the 3D model of the railing.

Fig. 10E shows the updated 3D model of the railing. As shown in Fig. 10E, the railing in the updated 3D model of the railing may include a moon symbol 1045 (ie, a 3D model of the moon symbol 1040).

Figure 11 is a schematic diagram of an exemplary screen of a user device with indoor positioning and navigation service applications according to some embodiments of the present application. As shown in Figure 11, when a user is using indoor positioning and navigation services, the user device can continuously take photos of the current environment data (e.g., take a video). The user device (e.g., a processor in the user device 130) can compare the photo with the 3D model of the building stored in the user device and determine the location of the user device. The user device can provide AR navigation services (e.g., displaying a guide arrow in the photo) to guide the user to the destination. In some embodiments, the user device can send the current environment data (e.g., one or more photos) to the processing engine 112 (e.g., in real time, or when the wireless signal is strong). If the current environment data does not match the 3D model of the building, the processing engine 112 can update the 3D model of the building based on the current environment data.

The basic concepts have been described above. Obviously, for those of ordinary skill in the art who have read this application, the above invention disclosure is only for example and does not constitute a limitation of this application. Although not explicitly stated here, those of ordinary skill in the art may make various modifications, improvements and amendments to this application. Such modifications, improvements and amendments are suggested in this application, so such modifications, improvements and amendments still belong to the spirit and scope of the exemplary embodiments of this application.

At the same time, the present application uses specific words to describe the embodiments of the present application. For example, "one embodiment", "an embodiment", and/or "some embodiments" refer to a certain feature, structure or characteristic related to at least one embodiment of the present application. Therefore, it should be emphasized and noted that "one embodiment" or "an embodiment" or "an alternative embodiment" mentioned twice or more in different positions in this specification does not necessarily refer to the same embodiment. In addition, some features, structures or characteristics in one or more embodiments of the present application can be appropriately combined.

In addition, it will be appreciated by those skilled in the art that various aspects of the present application may be illustrated and described by a number of patentable categories or situations, including any new and useful combination of processes, machines, products or substances, or any new and useful improvements thereto. Accordingly, various aspects of the present application may be performed entirely by hardware, entirely by software (including firmware, resident software, microcode, etc.), or by a combination of hardware and software. The above hardware or software may all be referred to as "blocks", "modules", "devices", "units", "components" or "systems". In addition, various aspects of the present application may take the form of a computer program product embodied in one or more computer-readable media, wherein computer-readable program code is contained therein.

A computer readable signal medium may include a propagated data signal containing computer program code, such as in baseband or as part of a carrier wave. Such propagated signals may be in a variety of forms, including electromagnetic, optical, etc., or any suitable combination. A computer readable signal medium may be any computer readable medium other than a computer readable storage medium, which may be connected to an instruction execution system, device or apparatus to communicate, propagate or transmit a program for use. The program code on a computer readable signal medium may be propagated via any suitable medium, including radio, cable, fiber optic cable, RF, etc., or any combination of the above.

The computer program code required for the operation of each part of the present application can be written in any one or more programming languages, including object-oriented programming languages such as Java, Scala, Smalltalk, Eiffel, JADE, Emerald, C++, C#, VB.NET, Python, etc., conventional procedural programming languages such as C programming language, Visual Basic, Fortran1703, Perl, COBOL1702, PHP, ABAP, dynamic programming languages such as Python, Ruby and Groovy, or other programming languages, etc. The program code can be run completely on the user's computer, or run on the user's computer as an independent software package, or run partially on the user's computer and partially on the remote computer, or run completely on the remote computer or server. In the latter case, the remote computer can be connected to the user's computer through any network form, such as a local area network (LAN) or a wide area network (WAN), or connected to an external computer (e.g., via the Internet), or in a cloud computing environment, or used as a service such as software as a service (SaaS).

In addition, unless explicitly stated in the claims, the order of the processing elements and sequences described in this application, the use of alphanumeric characters, or the use of other names are not intended to limit the order of the processes and methods of this application. Although the above disclosure discusses some invention embodiments that are currently considered useful through various examples, it should be understood that such details are only for illustrative purposes, and the attached claims are not limited to the disclosed embodiments. On the contrary, the claims are intended to cover all modifications and equivalent combinations that are consistent with the essence and scope of the embodiments of this application. For example, although the system components described above can be implemented by hardware devices, they can also be implemented only by software solutions, such as installing the described system on an existing server or mobile device.

Similarly, it should be noted that in order to simplify the description disclosed in this application and thus facilitate the understanding of one or more embodiments of the invention, in the foregoing description of the embodiments of the application, multiple features are sometimes grouped into one embodiment, figure, or description thereof. However, this method of the application should not be interpreted as reflecting the intention that the claimed object material to be scanned requires more features than those explicitly stated in each claim. In fact, the features of the embodiments are less than all the features of the single embodiment disclosed above.

In some embodiments, numbers describing the number of components and attributes are used. It should be understood that such numbers used in the description of the embodiments are modified by the modifiers "about", "approximately" or "substantially" in some examples. Unless otherwise specified, "about", "approximately" or "substantially" indicate that the numbers are allowed to vary by ±20%. Accordingly, in some embodiments, the numerical parameters used in the specification and claims are approximate values, which may change according to the required features of individual embodiments. In some embodiments, the numerical parameters should take into account the specified significant digits and adopt the general method of retaining digits. Although the numerical domains and parameters used to confirm the breadth of their range in some embodiments of the present application are approximate values, in specific embodiments, the setting of such numerical values is as accurate as possible within the feasible range.

All patents, patent applications, patent application publications, and other materials (such as papers, books, specifications, publications, records, things, and/or the like) referred to herein are hereby incorporated by reference in their entirety for all purposes, except any prosecution record related to such documents, any such documents that are inconsistent or conflicting with this document, or any such documents that have the effect of limiting the broad scope of the claims that may or may not be related to this document. For example, if there is any inconsistency or conflict between the description, definition, and/or use of terms associated with any incorporated material and the terminology associated with this document, the description, definition, and/or terminology used in this document will control.

Finally, it should be understood that the embodiments described in this application are only used to illustrate the principles of the embodiments of the present application. Other variations may also fall within the scope of the present application. Therefore, as an example and not a limitation, the alternative configurations of the embodiments of the present application may be considered consistent with the teachings of the present application. Therefore, the embodiments of the present application are not limited to those precisely as shown and described.

Claims (35)

1. A system, comprising:

At least one storage medium comprising a set of instructions for updating a model of a building;

At least one processor in communication with the at least one storage medium, wherein the set of instructions, when executed, instruct the at least one processor to:

Obtaining a 3D model of a building, comprising reference environment data associated with at least two reference locations of the building;

Acquiring current environment data corresponding to a current position of the building from user equipment; in the 3D model, a target reference position corresponding to the current position is identified from the at least two reference positions of the building, wherein,

The target reference position corresponds to target reference environment data; and

The current environment data corresponds to target reference environment data associated with the target reference position among the reference environment data of the 3D model;

comparing the current environmental data with the target reference environmental data;

Transmitting the target reference location to the user device when the current environment data matches the target reference environment data; and

Updating the 3D model with the current environmental data when the current environmental data does not statistically match the target reference environmental data, wherein the at least one processor is further instructed to:

receiving environmental data of the current location from at least two other user devices within a predetermined time immediately preceding the current time;

Comparing the environmental data from different user devices of the at least two other user devices with the current environmental data;

comparing the environmental data of different user devices from the at least two other user devices with corresponding reference environmental data; and

When the environmental data from different user devices all match the current environmental data and exceed a third threshold, but the environmental data and the current environmental data from different user devices do not match the target reference environmental data and exceed a fourth threshold, determining that the current environmental data of the current location does not statistically match the target reference environmental data.

2. The system of claim 1, wherein the 3D model of the building is a point cloud model or a grid model, wherein the target reference environment data comprises at least two target reference feature points corresponding to environment details of the target reference location; and

The current context data includes at least two current feature points corresponding to context details of the current location.

3. The system of claim 2, wherein to compare the current environmental data with the target reference environmental data, the at least one processor is further instructed to:

Comparing the at least two current feature points with the target reference feature points;

When the comparison returns a matching degree greater than a first threshold, determining that the current environmental data matches the target reference environmental data; and

And when the comparison returns a matching degree smaller than or equal to the first threshold value, determining that the current environment data is not matched with the target reference environment data.

4. A system according to claim 3, wherein to compare the at least two current feature points with the at least two target reference feature points, the at least one processor is further instructed to:

Matching each of the at least two current feature points with one of the at least two target reference feature points;

Determining a difference between the color or gray value of each of the at least two current feature points and the color or gray value of a matching point of the at least two target reference feature points; and

Based on the differences, the degree of matching between the current environmental data of the building and the target reference environmental data of the 3D model of the building is generated.

5. The system of claim 4, wherein upon determining that the current environmental data statistically does not match the target reference environmental data, further instructs the at least one processor to:

determining at least two unmatched feature points, wherein the color or gray value of each of the at least two unmatched points is different from the color or gray value of the corresponding target reference feature point;

selecting some or all of the unmatched feature points from the at least two unmatched feature points; and

And determining a non-matching region in the current environment data based on the selected some or all non-matching feature points.

6. The system of claim 5, wherein to update the 3D model of the building with the current environmental data, the at least one processor is further instructed to:

determining a first region in the target reference environment data of the 3D model of the building, the first region corresponding to the unmatched region in the current environment data; and

Updating the first region in the target reference environment data of the 3D model of the building based on the unmatched region in the current environment data to generate an updated 3D model of the building.

7. The system of claim 6, wherein the first region in the 3D model of the building is determined using a multi-point perspective method.

8. The system of claim 6, wherein to update the first region in the target reference environment data of the 3D model of the building based on the unmatched region in the current environment data, the at least one processor is further instructed to:

Determining a matching area in the current environmental data;

Determining a second region of the target reference environment data of the 3D model of the building corresponding to the matching region;

Marking the matching region in the current environmental data as the second region in the 3D model of the building; and

The unmatched region in the current environmental data is marked as the first region in the 3D model of the building, and the first region of the 3D model of the building is updated based on the matched region marked as the second region.

9. The system of claim 1, wherein the building is enclosed or semi-enclosed, and wherein an image of the building is captured by the user device in the building.

10. A method implemented on a computing device having at least one storage device storing a set of instructions for updating a model of a building, and at least one processor in communication with the at least one storage device, the method comprising:

Obtaining a 3D model of a building, comprising reference environment data associated with at least two reference locations of the building;

Acquiring current environment data corresponding to a current position of the building from user equipment;

In the 3D model, a target reference position corresponding to the current position is identified from the at least two reference positions of the building, wherein,

The target reference position corresponds to target reference environment data; and

The current environmental data corresponds to the target reference environmental data associated with the target reference position among the reference environmental data of the 3D model;

comparing the current environmental data with the target reference environmental data;

Transmitting the target reference location to the user device when the current environment data matches the target reference environment data; and

Updating the 3D model with the current environmental data when the current environmental data does not statistically match the target reference environmental data, wherein the method further comprises:

receiving environmental data of the current location from at least two other user devices within a predetermined time immediately preceding the current time;

Comparing the environmental data from different user devices of the at least two other user devices with the current environmental data;

comparing the environmental data of different user devices from the at least two other user devices with corresponding reference environmental data; and

When the environmental data from different user devices all match the current environmental data and exceed a third threshold, but the environmental data and the current environmental data from different user devices do not match the target reference environmental data and exceed a fourth threshold, determining that the current environmental data of the current location does not statistically match the target reference environmental data.

11. The method of claim 10, wherein the 3D model of the building is a point cloud model or a grid model, wherein the target reference environment data comprises at least two target reference feature points corresponding to environment details of the target reference location; and

The current context data includes at least two current feature points corresponding to context details of the current location.

12. The method of claim 11, wherein comparing the current environmental data with the target reference environmental data comprises:

Comparing the at least two current feature points with the target reference feature points;

When the comparison returns a matching degree greater than a first threshold, determining that the current environmental data matches the target reference environmental data; and

And when the comparison returns a matching degree smaller than or equal to the first threshold value, determining that the current environment data is not matched with the target reference environment data.

13. The method of claim 12, wherein to compare the at least two current feature points to the at least two target reference feature points, further comprising:

Matching the at least two current feature points with one of the at least two target reference feature points;

Determining a difference between the color or gray value of each of the at least two current feature points and the color or gray value of a matching point of the at least two target reference feature points; and

Based on the differences, the degree of matching between the current environmental data of the building and target reference environmental data of the 3D model of the building is generated.

14. The method of claim 13, further comprising, after determining that the current environmental data statistically does not match the target reference environmental data:

determining at least two unmatched feature points, wherein the color or gray value of each of the at least two unmatched points is different from the color or gray value of the corresponding target reference feature point;

selecting some or all of the unmatched feature points from the at least two unmatched feature points; and

And determining a non-matching region in the current environment data based on the selected some or all non-matching feature points.

15. The method of claim 14, wherein updating the current environmental data of the 3D model of the building further comprises:

determining a first region in the target reference environment data of the 3D model of the building, the first region corresponding to the unmatched region in the current environment data; and

Updating the first region in the target reference environment data of the 3D model of the building based on the unmatched region in the current environment data to generate an updated 3D model of the building.

16. The method of claim 15, wherein the first region in the 3D model of the building is determined using a multi-point perspective method.

17. The method of claim 15, wherein updating the first region in the target reference environment data of the 3D model of the building based on the unmatched region in the current environment data comprises:

Determining a matching area in the current environmental data;

Determining a second region of the target reference environment data of the 3D model of the building corresponding to the matching region;

marking the matching region in the current environmental data as the second region in the 3D model of the building; and

The unmatched region in the current environmental data is marked as the first region in the 3D model of the building, and the first region of the 3D model of the building is updated based on the matched region marked as the second region.

18. A system, comprising:

at least one storage medium comprising a set of instructions for updating a model of a building;

at least one processor in communication with the at least one storage medium, wherein the at least one processor, when executing the set of instructions, is configured to:

Obtaining a 3D model of a building, comprising reference environment data associated with at least two reference locations of the building;

Receiving and accepting a connection request from user equipment;

detecting a client application executing on the user device, the client application collecting environmental information of the user device from one or more sensors of the user device and automatically communicating with the system over a network;

Communicating with the client application executing on the user device to receive a positioning request;

Acquiring current environmental data corresponding to a current location of the building from the client application of the user device based on the environmental information detected by the one or more sensors of the user device;

In the 3D model, a target reference position corresponding to the current position is identified from the at least two reference positions of the building, wherein,

The target reference position corresponds to target reference environment data; and

The current environmental data corresponds to the target reference environmental data associated with the target reference position among the reference environmental data of the 3D model;

comparing the current environmental data with the target reference environmental data;

Transmitting a communication signal to the user device when the current environment data matches the target reference environment data, wherein the communication signal is configured to include a command and the target reference position, the command being configured to cause a user terminal to present the generated target reference position on a display of the user device; and

Updating the 3D model with the current environmental data when the current environmental data does not statistically match the target reference environmental data, wherein the at least one processor is further configured to:

receiving environmental data of the current location from at least two other user devices within a predetermined time immediately preceding the current time;

Comparing the environmental data from different user devices of the at least two other user devices with the current environmental data;

comparing the environmental data of different user devices from the at least two other user devices with corresponding reference environmental data; and

When the environmental data from different user devices all match the current environmental data and exceed a third threshold, but the environmental data and the current environmental data from different user devices do not match the target reference environmental data and exceed a fourth threshold, determining that the current environmental data of the current location does not statistically match the target reference environmental data.

19. The system of claim 18, wherein the 3D model of the building is a point cloud model or a grid model, wherein the target reference environment data comprises at least two target reference feature points corresponding to environment details of the target reference location; and

The current context data includes at least two current feature points corresponding to context details of the current location.

20. The system of claim 19, wherein comparing the current environmental data to the target reference environmental data, the at least one processor is configured to:

Comparing the at least two current feature points with the target reference feature points;

When the comparison returns a matching degree greater than a first threshold, determining that the current environmental data matches the target reference environmental data; and

And when the comparison returns a matching degree smaller than or equal to the first threshold value, determining that the current environment data is not matched with the target reference environment data.

21. The system of claim 20, wherein to compare the at least two current feature points to the at least two target reference feature points, the at least one processor is further to instruct:

matching each of the at least two current feature points with one of the at least two target reference feature points;

Determining a difference between the color or gray value of each of the at least two current feature points and the color or gray value of a matching point of the at least two target reference feature points; and

Based on the differences, the degree of matching between the current environmental data of the building and the target reference environmental data of the 3D model of the building is generated.

22. The system of claim 21, wherein after determining that the current environmental data statistically does not match the target reference environmental data, the at least one processor further instructs:

determining at least two unmatched feature points, wherein the color or gray value of each of the at least two unmatched points is different from the color or gray value of the corresponding target reference feature point;

selecting some or all of the unmatched feature points from the at least two unmatched feature points; and

And determining a non-matching region in the current environment data based on the selected some or all non-matching feature points.

23. The system of claim 22, wherein updating the current environmental data of the 3D model of the building, the at least one processor further instructs:

determining a first region in the target reference environment data of the 3D model of the building, the first region corresponding to the unmatched region in the current environment data; and

Updating the first region in the target reference environment data of the 3D model of the building based on the unmatched region in the current environment data to generate an updated 3D model of the building.

24. The system of claim 23, wherein the first region in the 3D model of the building is determined using a multi-point perspective method.

25. The system of claim 23, wherein to update the first region in the target reference environment data of the 3D model of the building based on the unmatched region in the current environment data, the at least one processor instructs:

Determining a matching area in the current environmental data;

Determining a second region of the target reference environment data of the 3D model of the building corresponding to the matching region;

marking the matching region in the current environmental data as the second region in the 3D model of the building; and

The unmatched region in the current environmental data is marked as the first region in the 3D model of the building, and the first region of the 3D model of the building is updated based on the matched region marked as the second region.

26. The system of claim 18, wherein the building is enclosed or semi-enclosed, and wherein an image of the building is captured by the user device within the building.

27. A method implemented on a computing device having at least one storage device storing a set of instructions for updating a model of a building, and at least one processor in communication with the at least one storage device, the method comprising:

Obtaining a 3D model of a building, comprising reference environment data associated with at least two reference locations of the building;

receiving and accepting a connection request from a user equipment;

Detecting a client application executing on the user device, the client application collecting environmental information of the user device from one or more sensors of the user device and automatically communicating with the computing device over a network;

Communicating with the client application executing on the user device to receive a positioning request;

Acquiring current environmental data corresponding to a current location of the building from the client application of the user device based on the environmental information detected by the one or more sensors of the user device;

In the 3D model, a target reference position corresponding to the current position is identified from the at least two reference positions of the building, wherein,

The target reference position corresponds to target reference environment data; and

The current environmental data corresponds to target reference environmental data associated with the target reference position among the reference environmental data of the 3D model;

comparing the current environmental data with the target reference environmental data;

Transmitting a communication signal to the user device when the current environment data matches the target reference environment data, wherein the communication signal is configured to include a command and the target reference position, the command being configured to cause a user terminal to present the generated target reference position on a display of the user device; and

Updating the 3D model with the current environmental data when the current environmental data does not statistically match the target reference environmental data, wherein the method further comprises:

receiving environmental data of the current location from at least two other user devices within a predetermined time immediately preceding the current time;

Comparing the environmental data from different user devices of the at least two other user devices with the current environmental data;

Comparing the environmental data of different user devices from the at least two other user devices with the corresponding reference environmental data; and

When the environmental data from different user devices all match the current environmental data and exceed a third threshold, but the environmental data and the current environmental data from different user devices do not match the target reference environmental data and exceed a fourth threshold, determining that the current environmental data of the current location does not statistically match the target reference environmental data.

28. The method of claim 27, wherein the 3D model of the building is a point cloud model or a grid model, wherein the target reference environment data comprises at least two target reference feature points corresponding to environment details of the target reference location; and

The current context data includes at least two current feature points corresponding to context details of the current location.

29. The method of claim 28, wherein comparing the current environmental data with the target reference environmental data comprises:

Comparing the at least two current feature points with the target reference feature points;

When the comparison returns a matching degree greater than a first threshold, determining that the current environmental data matches the target reference environmental data; and

And when the comparison returns a matching degree smaller than or equal to the first threshold value, determining that the current environment data is not matched with the target reference environment data.

30. The method of claim 29, wherein to compare the at least two current feature points to the at least two target reference feature points, further comprising:

matching each of the at least two current feature points with one of the at least two target reference feature points;

Determining a difference between the color or gray value of each of the at least two current feature points and the color or gray value of a matching point of the at least two target reference feature points; and

Based on the differences, the degree of matching between the current environmental data of the building and the target reference environmental data of the 3D model of the building is generated.

31. The method of claim 30, wherein determining that the current environmental data does not statistically match the target reference environmental data further comprises:

Determining at least two non-matching feature points, wherein a color or gray value of each of the at least two non-matching points is different from the color or gray value of the corresponding target reference feature point;

selecting some or all of the unmatched feature points from the at least two unmatched feature points; and

And determining a non-matching region in the current environment data based on the selected some or all non-matching feature points.

32. The method of claim 31, wherein updating the 3D model of the building with the current environmental data further comprises:

determining a first region in the target reference environment data of the 3D model of the building, the first region corresponding to the unmatched region in the current environment data; and

Updating the first region in the target reference environment data of the 3D model of the building based on the unmatched region in the current environment data to generate an updated 3D model of the building.

33. The method of claim 32, wherein the first region in the 3D model of the building is determined using a multi-point perspective method.

34. The method of claim 32, wherein to update the first region in the target reference environment data of the 3D model of the building based on the unmatched region in the current environment data comprises:

Determining a matching area in the current environmental data;

Determining a second region of the target reference environment data of the 3D model of the building corresponding to the matching region;

marking the matching region in the current environmental data as the second region in the 3D model of the building; and

The unmatched region in the current environmental data is marked as the first region in the 3D model of the building, and the first region of the 3D model of the building is updated based on the matched region marked as the second region.

35. A non-transitory computer-readable medium comprising at least one set of instructions for updating a model of a building, wherein at least one set of the instructions, when executed by at least one processor of an electronic terminal, instruct the at least one processor to perform an action:

Obtaining a 3D model of a building, comprising reference environment data associated with at least two reference locations of the building;

Acquiring current environment data corresponding to a current position of the building from user equipment;

In the 3D model, a target reference position corresponding to the current position is identified from the at least two reference positions of the building, wherein,

The target reference position corresponds to target reference environment data; and

The current environment data corresponds to target reference environment data associated with the target reference position among the reference environment data of the 3D model;

comparing the current environmental data with the target reference environmental data;

transmitting a communication signal including the target reference location to the user equipment when the current environment data matches the target reference environment data; and

Updating the 3D model with the current environmental data when the current environmental data does not statistically match the target reference environmental data, wherein at least one set of the instructions further instruct the at least one processor to perform an action:

receiving environmental data of the current location from at least two other user devices within a predetermined time immediately preceding the current time;

Comparing the environmental data from different user devices of the at least two other user devices with the current environmental data;

Comparing the environmental data of different user devices from the at least two other user devices with the corresponding reference environmental data; and

When the environmental data from different user devices all match the current environmental data and exceed a third threshold, but the environmental data and the current environmental data from different user devices do not match the target reference environmental data and exceed a fourth threshold, determining that the current environmental data of the current location does not statistically match the target reference environmental data.