Pose determining method and related device

A pose determining method comprising:

• obtaining a pixel position that is of a circumscribed pattern of a target parking space mark and that is in a target image, wherein the target image comprises the target parking space mark and the circumscribed pattern defines an area in which the target parking space mark is located;
• obtaining position information corresponding to the circumscribed pattern in a digital map, wherein the position information indicates a coordinate position of the circumscribed pattern in the digital map, wherein the digital map includes the circumscribed pattern and parking space lines;
• and
• determining pose information based on the pixel position and the position information, wherein the pose information indicates a corresponding pose of a terminal during photographing of the target image;
• wherein
• wherein the circumscribed pattern comprises a first edge line, a second edge line, and a third edge line, wherein at least two of the first edge line, the second edge line, and the third edge line are not parallel in the digital map, and a corner point is an intersection point of the first edge line and the second edge line;
• and
• the pixel position comprises direction information of the first edge line and the second edge line in the target image, and a pixel position of the second-corner point in the target image;
• and the position information comprises preset directions corresponding to the first edge line and the second edge line in the digital map, and a preset position corresponding to the corner point in the digital map.

A pose determining apparatus comprising:

• a processing system, including at least one computer processor, the processing system being at least configured to:
• obtain a target image, wherein the target image comprises a target parking space mark and a target parking space line, and a target parking space corresponding to the target parking space mark comprises the target parking space line;
• recognize the target parking space mark in the target image by using optical character recognition;
• and
• determine pose information based on the target parking space mark and the target parking space line, wherein the pose information indicates a corresponding pose of a terminal during photographing of the target image;
• wherein in order to determine the pose information, the processing system is further configured to:
• obtain a pixel position of the target parking space line in the target image;
• obtain position information corresponding to the target parking space line in a digital map, wherein the position information indicates a position of the target parking space line in the digital map;
• and
• determine the pose information based on the pixel position and the position information, and the position information includes a preset position of a corner point of a circumscribed frame of the target parking space mark.