CN108955682A - Mobile phone indoor positioning air navigation aid - Google Patents
Mobile phone indoor positioning air navigation aid Download PDFInfo
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- CN108955682A CN108955682A CN201810289238.9A CN201810289238A CN108955682A CN 108955682 A CN108955682 A CN 108955682A CN 201810289238 A CN201810289238 A CN 201810289238A CN 108955682 A CN108955682 A CN 108955682A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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Abstract
本发明提供了一种手机室内定位导航方法，包括以下步骤：S1、快速三维重建，通过手机的深度摄像头得到用户周围场景的深度信息，并结合手机的摄像头采集图像进行周围场景的三维模型建模；S2、计算机视觉，利用手机的RGB摄像头采集周围场景图片，然后采用计算机视觉匹配算法进行空间定位；S3、路径规划和运动跟踪，利用手机的运动传感器，获取用户的运动状态，同时，利用手机的运动跟踪传感器实时获取周围场景的特征，将该特征映射到二维路径平面规划图上修正路径，实时对用户的空间位置和运动方向进行定位和导航。本发明的有益效果是：可实现手机室内定位导航，成本低，时间周期短、干扰因素较少、精度波动范围较小。
The present invention provides a mobile phone indoor positioning and navigation method, comprising the following steps: S1, fast three-dimensional reconstruction, obtaining the depth information of the scene around the user through the depth camera of the mobile phone, and combining the images collected by the camera of the mobile phone to model the three-dimensional model of the surrounding scene ; S2, computer vision, use the RGB camera of the mobile phone to collect the surrounding scene pictures, and then use the computer vision matching algorithm for spatial positioning; S3, path planning and motion tracking, use the motion sensor of the mobile phone to obtain the user's motion state, and at the same time, use the mobile phone The advanced motion tracking sensor acquires the features of the surrounding scene in real time, maps the features to the two-dimensional path planning map to correct the path, and locates and navigates the user's spatial position and movement direction in real time. The beneficial effects of the invention are: the indoor positioning and navigation of mobile phones can be realized, the cost is low, the time period is short, the interference factors are few, and the precision fluctuation range is small.
Description
Technical field
The present invention relates to air navigation aid more particularly to a kind of mobile phone indoor positioning air navigation aids.
Background technique
Currently, comparative maturity, GPS and Chinese Beidou subsequently enter civil field to outdoor airmanship.But indoors
Navigation aspect, outdoor airmanship are faced with signal rapid decay, and disturbing factor increases, the very big problem of positioning accuracy deviation.
Currently, with the development and maturation of mobile device and wireless communication technique, RFID indoor positioning and WiFi indoor positioning technologies are
Indoor positioning navigation solution popular at present.But meanwhile the two indoor positioning technologies that there is also costs is huge,
The problem that time cycle is too long, disturbing factor is also more, precision fluctuation range is excessive.
Summary of the invention
In order to solve the problems in the prior art, the present invention provides a kind of mobile phone indoor positioning air navigation aids.
The present invention provides a kind of mobile phone indoor positioning air navigation aids, comprising the following steps:
S1, quick three-dimensional reconstructing obtain the depth information of scene around user by the depth camera of mobile phone, and combine mobile phone
Camera collection image carry out surrounding scene threedimensional model modeling；
S2, computer vision are acquired surrounding scene picture using the RGB camera of mobile phone, are then matched using computer vision
Algorithm carries out space orientation；
S3, path planning and motion tracking obtain the motion state of user using the motion sensor of mobile phone, meanwhile, utilize hand
The motion tracking sensor of machine obtains the feature of surrounding scene in real time, and this feature is mapped on two dimensional path Floorplanning figure and is repaired
Positive path positions and navigates to the spatial position of user and the direction of motion in real time.
As a further improvement of the present invention, in step sl, the flight that depth information is provided by structure light and infrared ray
Time determines that obtained depth information carries out three-dimensional fitting to the color image of acquisition, so that threedimensional model is obtained, meanwhile, it is deep
Spend the drifting problem that information is used for corrective exercise tracking.
As a further improvement of the present invention, in step s 2, the letter based on computer vision technique acquisition surrounding scene
Training is ceased and is labeled, to make mobile phone and identify by positioning the function of user position.
As a further improvement of the present invention, in step s 2, the problem of regarding scene positioning as picture recognition, by hand
Machine acquired image information and location information are corresponded, and using location information as the label information of these pictures,
Depth convolutional network model is trained using the label of picture.
As a further improvement of the present invention, in step s 2, scene picture captured by the rear camera by mobile phone
It is input in the depth convolutional network model, obtained specific recognition result is exactly location information.
As a further improvement of the present invention, in step s 2, the scene in two meters is considered as a unit with two meters
In the same position.
As a further improvement of the present invention, in step s3, the motion sensor of mobile phone include acceleration transducer and
Gyroscope.
As a further improvement of the present invention, in step s3, it is realized around to user by cell phone application interface operation
Scene description and study, motion tracking and path planning function, after completing scene description and study, according to the coordinate points of user
With target point information, the optimal path that user reaches target point is provided, and is realized according to motion tracking function to user movement side
To the real-time tracking and error correction with distance.
The beneficial effects of the present invention are: at low cost, the time is all through the above scheme, it can be achieved that mobile phone indoor positioning is navigated
Phase is short, disturbing factor is less, precision fluctuation range is smaller.
Detailed description of the invention
Fig. 1 is a kind of flow diagram of mobile phone indoor positioning air navigation aid of the present invention.
Specific embodiment
The invention will be further described for explanation and specific embodiment with reference to the accompanying drawing.
As shown in Figure 1, a kind of mobile phone indoor positioning air navigation aid, comprising the following steps:
S1, quick three-dimensional reconstructing obtain the depth information of scene around user by the depth camera of association's Tango mobile phone,
And the threedimensional model for combining 16,000,000 high-pixel cameras acquisition image to carry out surrounding scene models.Depth information by structure light and
The flight time that infrared ray provides determines that obtained depth information carries out three-dimensional fitting to the color image of acquisition, to obtain
Threedimensional model.Meanwhile depth information is conducive to the drifting problem of corrective exercise tracking；
S2, computer vision, using mobile phone camera acquire surrounding scene picture, then using computer vision matching algorithm into
Row space orientation.As people judge the position where oneself according to the feature (such as doorway, stair, toilet etc.) of scene around
It sets, information of this project based on computer vision technique acquisition surrounding scene is simultaneously labeled training, so that it is fixed to pass through equipment
Position identifies the function of user position.The problem of regarding scene positioning as picture recognition, by the collected figure of equipment
As information and location information are corresponded, and using location information as the label information of these pictures, utilize the mark of picture
Label are to train depth convolutional network model.Scene picture captured by rear camera is input in the model, and what is obtained is specific
Recognition result is exactly location information.In practice, location information is a kind of deviation analog signal, so that the classification of classification is just
Very much, here in order to improve practicability and efficiency ratio, the appropriate precision for reducing scene Recognition precision and improving identification is with two meters
One unit, the scene in two meters is considered as the training image data that are inputted in this way in the same position will more diversity,
Simultaneously practice have shown that 1-2 meters of precision has met the requirements for the project and user's actual use.The identifying schemes saving
Calculation amount is conducive to the raising of later period programmed algorithm experience；
S3, path planning and motion tracking are obtained using motion sensors such as the acceleration transducer of mobile phone and gyroscopes
The motion state of user.The feature of surrounding scene, the knot can be obtained in real time using Tango postposition motion tracking sensor simultaneously
Fruit, which is mapped on two dimensional path Floorplanning figure, to be conducive to correct path, is carried out in real time to the spatial position of user and the direction of motion
Positioning and navigation.
The present invention is realized by cell phone application interface operation to scene description and study, the motion tracking and road around user
Diameter planning function.After completing scene description and study, according to the coordinate points of user and target point information, provides user and reach mesh
The optimal path of punctuate, and the real-time tracking and error in user movement direction and distance are entangled according to the realization of motion tracking function
Just.
A kind of mobile phone indoor positioning air navigation aid provided by the invention is adopted using association's Project Tango Pro mobile phone
With the Tango sensor of Google, it is RGB camera, depth camera respectively that there are three key sensors for mobile phone back tool
With motion tracking sensor.The present invention makes full use of the hardware characteristics of Tango sensor, and RGB camera is responsible for shooting indoor field
Scape picture, depth camera are responsible for the depth information in capturing scenes picture, the information that the two obtains and the interior for realizing acquisition
Scene picture carries out Computer Vision Recognition and characteristic matching, to obtain user position indoors and coordinate.When user selects
It after determining indoor objects place, is uploaded onto the server end by WIFI, calculates the optimal path of user current location and target location.
During user movement, the acceleration transducer of motion tracking sensor internal, gyro sensor and unique wide-angle
Motion tracking camera so that the user mobile phone rotation obtained and linear acceleration data are more accurate, and then obtain user and is expert at
Into direction and position in the process, achieve the purpose that motion tracking.
A kind of mobile phone indoor positioning air navigation aid provided by the invention, the specific operation process is as follows: user opens first
Cell phone application interface, into interface operation layer.Mobile phone is scanned surrounding scene by user, obtains the depth information and figure of scene around
Computer vision matching is carried out as information, and with the data in server, so that it is determined that indoor space coordinate locating for user out.
Then user selects gone destination, and system is carried out according to user's own coordinate and destination coordinate and interior space information
Optimum path planning, user can navigate according to planning chart.Meanwhile the motion tracking function real-time tracking user that system is included
Direction in space and distance, real-time update user coordinates, provide more in time, more accurately positioning and navigation feature.
A kind of mobile phone indoor positioning air navigation aid provided by the invention is to utilize computer vision technique and Tango mobile phone
Included sensor realizes the positioning and navigation feature in user space indoors.Interior cannot accurately be carried out by solving outdoor navigation
The problem of positioning, while the cost for reducing existing indoor positioning airmanship is excessively high, precision is low, the period is long and disturbing factor is more
The problem of.User only needs shirtsleeve operation that can quickly use, and can reach indoor positioning and navigation feature.
A kind of mobile phone indoor positioning air navigation aid provided by the invention, the Tango open source library based on Google, utilizes meter
Calculation machine vision technique provides the cell phone application with indoor positioning and navigation feature for indoor scenes such as markets.By cell phone application circle
Face operation obtains the depth information of scene in conjunction with the depth transducer of Tango mobile phone, realizes the three of user region
Dimension is rebuild.Furthermore, it is possible to identify using the computer vision based on deep learning to scene, the specific location of user is provided
The path planning of coordinate and destination.Finally, using the motion sensor and gyro sensor of mobile phone moved with
Track.Potential technology of the invention can be applied in more common cell phone apparatus, realizes the autonomous positioning of mobile phone indoors and leads
Boat function.
The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, and it cannot be said that
Specific implementation of the invention is only limited to these instructions.For those of ordinary skill in the art to which the present invention belongs, exist
Under the premise of not departing from present inventive concept, a number of simple deductions or replacements can also be made, all shall be regarded as belonging to of the invention
Protection scope.
Claims (8)
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109781072A (en) * | 2019-01-18 | 2019-05-21 | 上海扩博智能技术有限公司 | Indoor navigation map foundation based on augmented reality, navigation methods and systems |
| CN110427936A (en) * | 2019-07-04 | 2019-11-08 | 深圳市新潮酒窖文化传播有限公司 | A kind of the cellar management method and system in wine cellar |
| CN111148218A (en) * | 2019-12-20 | 2020-05-12 | 联想(北京)有限公司 | Information processing method and device and computer readable storage medium |
| CN111189440A (en) * | 2019-12-31 | 2020-05-22 | 中国电建集团华东勘测设计研究院有限公司 | Positioning navigation method based on comparison of spatial information model and real-time image |
| CN111854755A (en) * | 2020-06-19 | 2020-10-30 | 深圳宏芯宇电子股份有限公司 | Indoor positioning method, indoor positioning equipment and computer-readable storage medium |
| CN112629532A (en) * | 2019-10-08 | 2021-04-09 | 宏碁股份有限公司 | Indoor positioning method for increasing accuracy and mobile device using the same |
| CN113155130A (en) * | 2021-04-06 | 2021-07-23 | 广州宸祺出行科技有限公司 | AR-based large indoor place navigation method and system |
| CN113188546A (en) * | 2021-04-30 | 2021-07-30 | 成都市微泊科技有限公司 | Indoor positioning navigation method based on image recognition and pedestrian dead reckoning |
| CN114252071A (en) * | 2020-09-25 | 2022-03-29 | 财团法人工业技术研究院 | Self-propelled vehicle navigation device and method thereof |
| CN116518969A (en) * | 2023-04-25 | 2023-08-01 | 南京艾小宝智能科技有限公司 | Visual positioning system and method under indoor scene |
| CN117079449A (en) * | 2023-05-08 | 2023-11-17 | 中科元景智能(深圳)有限公司 | A driving analysis method based on edge computing |
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| CN109781072A (en) * | 2019-01-18 | 2019-05-21 | 上海扩博智能技术有限公司 | Indoor navigation map foundation based on augmented reality, navigation methods and systems |
| CN110427936A (en) * | 2019-07-04 | 2019-11-08 | 深圳市新潮酒窖文化传播有限公司 | A kind of the cellar management method and system in wine cellar |
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| CN112629532A (en) * | 2019-10-08 | 2021-04-09 | 宏碁股份有限公司 | Indoor positioning method for increasing accuracy and mobile device using the same |
| CN112629532B (en) * | 2019-10-08 | 2023-10-20 | 宏碁股份有限公司 | Indoor positioning methods to improve accuracy and mobile devices using them |
| CN111148218A (en) * | 2019-12-20 | 2020-05-12 | 联想(北京)有限公司 | Information processing method and device and computer readable storage medium |
| CN111189440A (en) * | 2019-12-31 | 2020-05-22 | 中国电建集团华东勘测设计研究院有限公司 | Positioning navigation method based on comparison of spatial information model and real-time image |
| CN111189440B (en) * | 2019-12-31 | 2021-09-07 | 中国电建集团华东勘测设计研究院有限公司 | A positioning and navigation method based on spatial information model and real-time image comparison |
| CN111854755A (en) * | 2020-06-19 | 2020-10-30 | 深圳宏芯宇电子股份有限公司 | Indoor positioning method, indoor positioning equipment and computer-readable storage medium |
| CN114252071A (en) * | 2020-09-25 | 2022-03-29 | 财团法人工业技术研究院 | Self-propelled vehicle navigation device and method thereof |
| CN113155130A (en) * | 2021-04-06 | 2021-07-23 | 广州宸祺出行科技有限公司 | AR-based large indoor place navigation method and system |
| CN113188546A (en) * | 2021-04-30 | 2021-07-30 | 成都市微泊科技有限公司 | Indoor positioning navigation method based on image recognition and pedestrian dead reckoning |
| CN116518969A (en) * | 2023-04-25 | 2023-08-01 | 南京艾小宝智能科技有限公司 | Visual positioning system and method under indoor scene |
| CN116518969B (en) * | 2023-04-25 | 2023-10-20 | 南京艾小宝智能科技有限公司 | Visual positioning system and method under indoor scene |
| CN117079449A (en) * | 2023-05-08 | 2023-11-17 | 中科元景智能(深圳)有限公司 | A driving analysis method based on edge computing |
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Application publication date: 20181207 |