CN109668568A - A kind of method carrying out location navigation using panoramic imagery is looked around - Google Patents
A kind of method carrying out location navigation using panoramic imagery is looked around Download PDFInfo
- Publication number
- CN109668568A CN109668568A CN201910072658.6A CN201910072658A CN109668568A CN 109668568 A CN109668568 A CN 109668568A CN 201910072658 A CN201910072658 A CN 201910072658A CN 109668568 A CN109668568 A CN 109668568A
- Authority
- CN
- China
- Prior art keywords
- image
- axis
- marker
- loose impediment
- angle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 33
- 239000003550 marker Substances 0.000 claims abstract description 51
- 238000004364 calculation method Methods 0.000 claims description 3
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 238000007781 pre-processing Methods 0.000 claims description 2
- 230000007613 environmental effect Effects 0.000 claims 1
- 239000013589 supplement Substances 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 5
- 238000003384 imaging method Methods 0.000 description 4
- 230000015572 biosynthetic process Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012876 topography Methods 0.000 description 2
- 238000013528 artificial neural network Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Navigation (AREA)
- Image Processing (AREA)
Abstract
The present invention provides a kind of method for carrying out location navigation using panoramic imagery is looked around, and the image of all roads within the scope of selection area is obtained using panorama camera, and is sent to image processing unit；Image processing unit pre-processes each image, identifies the anchor point and its coordinate of the marker in every sub-picture, is then stored in above- mentioned information in the database for representing road topology structure sequence, completes the foundation of range map data base；Using the loose impediment of the range map data base, the realtime graphic of current location is obtained by panorama camera, the center of circle angle for calculating the calibration point of three or more markers and loose impediment in realtime graphic, can be obtained the current relative co-ordinate information of loose impediment.The present invention can realize location navigation under radnos or complex electromagnetic environment, and can obtain itself direction or direction in the stationary case, be effective supplement to the radio-positioning navigations system such as GPS, Beidou.
Description
Technical field
The present invention relates to positioning and navigation field, the image for looking around panoramic imaging apparatus formation more particularly to a kind of utilization is built
The vertical database with marker, so that the method for realizing walking positioning and navigation using the loose impediment of the database.
Background technique
Present navigation system has the satellite navigation systems such as GPS, Beidou, is all to provide to work as user in real time by satellite
Front position information and course of action information.
But above-mentioned purpose realization is needed by radio signal, for some radnos or complicated electromagnetism ring
Area under border can not be then applicable in.It can not be especially the machine of some interiors, bulk storage plant, tunnel or the intensive cell of high building
People's navigation.
Summary of the invention
The image for looking around panoramic imaging apparatus formation the object of the present invention is to provide a kind of utilization is established with marker
Database, so that the method for realizing walking positioning and navigation using the loose impediment of the database.
Particularly, the present invention provides a kind of method for carrying out location navigation using panoramic imagery is looked around, and includes the following steps:
Step 100, panorama camera is mounted in a loose impediment, controls loose impediment in selection area range
It is interior mobile by scheduled mobile route, obtain the image of surrounding in real time using panorama camera, and be sent to image processing unit；
Step 200, image processing unit pre-processes each image, then identifies the mark in each image
Each marker is numbered in object, then using panorama camera as calibration point, identify each marker anchor point and its
Then above- mentioned information are stored in the database for representing road topology structure sequence by coordinate, complete range map data base
It establishes；
Step 300, using the loose impediment of the range map data base, when being moved in the regional scope, by complete
Scape camera obtains the realtime graphic of current location, calculates the calibration point of three or more markers in realtime graphic and moves
The current relative co-ordinate information of loose impediment can be obtained in the center of circle angle of object.
In an embodiment of the invention, the step 200 further includes following steps:
The coordinate system that loose impediment in each image is coordinate is established, two marks on X-axis or Y-axis two sides opposite are calculated
Know the calibration point line of object and the angle of X-axis or Y-axis, then stores the number of the two markers and the angle information simultaneously
In the database.
In an embodiment of the invention, using the loose impediment of the range map data base, pass through panorama phase
Machine obtains the realtime graphic of current location, and establishes coordinate system by dot of loose impediment, calculates current X-axis or Y-axis two
The real-time angle of the calibration point lines of two markers of side and X-axis or Y-axis, then carries out with the angle information in database pair
Than and calculate deviation, the moving direction of current loose impediment can be obtained.
In an embodiment of the invention, further include in the database each marker calibration point absolute seat
Information is marked, is worked as using the loose impediment of the database by the way that loose impediment can be obtained with the triangulation calculation of calibration point angle
Preceding absolute coordinate.
In an embodiment of the invention, image processing unit is as follows to the preprocessing process of each image:
Image is filtered first and binary conversion treatment；Then the marker in image is determined, then to image and wherein
Marker carry out correction expansion processing, to obtain the normal viewing angle image of image and marker.
In an embodiment of the invention, the marker is the certain objects selected in image, or is placed in ring
The identification piece of mark is exclusively used in border.
In an embodiment of the invention, the identification piece includes two symmetrical axis shape gengons and connection two
The connecting rod of axis shape gengon is provided with the symmetrical polyhedron as anchor point on connecting rod, is arranged on the axis shape gengon
There is the striped for representing the identification piece.
In an embodiment of the invention, the identification piece includes a symmetrical axis shape gengon, and by described
The connecting rod that the axial ends of axis shape gengon is stretched out, and it is separately positioned on the symmetrical multi-panel on two connecting rods as anchor point
Body is provided with the striped for representing the axis shape identification piece on the axis shape gengon.
In an embodiment of the invention, the striped is different by multiple width and the color ring structure that is spaced apart
At, and the striped of each identification piece is different from.
In an embodiment of the invention, the symmetrical polyhedron is spherical shape.
Positioning navigation method structure proposed by the present invention is simple, facilitates arrangement, low cost can be in no aerogram
Number or complex electromagnetic environment under realize location navigation, and itself direction or direction can be obtained in the stationary case, be
To effective supplement of the radio-positioning navigations system such as GPS, Beidou.Suitable for be transported in the intensive cell of interior, tunnel, high building
Capable robot, AGV trolley, automation equipment etc. provide location navigation.
Detailed description of the invention
Fig. 1 is the method flow schematic diagram of one embodiment of the present invention；
Fig. 2 is the marker structural schematic diagram of one embodiment of the present invention；
Fig. 3 is another structural schematic diagram of marker of one embodiment of the present invention；
Fig. 4 is the Database flow diagram of one embodiment of the present invention；
Fig. 5 is the target location navigation process flow schematic diagram of one embodiment of the present invention.
Specific embodiment
As shown in Figure 1, 2, 3, one embodiment of the present invention disclose it is a kind of using look around panoramic imagery carry out location navigation
Method, generally comprise the steps:
Step 100, panorama camera is mounted in a loose impediment, controls loose impediment in selection area range
It is interior mobile by scheduled mobile route, obtain the image of surrounding in real time using panorama camera, and be sent to image processing unit；
Here the vehicles that loose impediment can arbitrarily walk, such as robot, automobile, bicycle, hand push
Vehicle etc..Panorama camera is can be using itself as 360 degree of the center camera for shooting surrounding enviroment and forming image.
Scheduled mobile route needs to include road all in the region, i.e., panorama camera needs to obtain institute in the region
There is the image around road.
Image forming apparatus can be embedded computer, nuclear equipment, DSP equipment, PC machine, laptop etc. in ARM
Equipment.Panorama camera can be connect by MIPI, USB, WiFi, Ethernet interface etc. with image forming apparatus.Image forms dress
The calculated result set can pass through CAN, 232 interfaces, 485 interfaces, WIFI, bluetooth, MIPI, USB, Ethernet interface etc. and user
Equipment connection.
Step 200, image processing unit pre-processes each image, then identifies the mark in each image
Each marker is numbered in object, then using panorama camera as calibration point, identify each marker anchor point and its
Then coordinate stores that information in the database for representing road topology structure sequence, complete building for range map data base
It is vertical；
Here pretreatment content includes: first to be filtered to image and binary conversion treatment；Then the mark in image is determined
Know object, then correction expansion processing is carried out to image and marker therein, to obtain the normal viewing angle figure of image and marker
Picture.Hereafter image processing unit divides normal picture using artificial neural network algorithm or other image recognition algorithms
Analysis and processing.
Marker in present embodiment can be the certain objects in artificially selected image, or specially be placed in environment
In for mark identification piece 10.Each identification piece must be can identify and it is unique unduplicated, that is, indicating the region
In all images, the marker in the relatively other images of marker in each image be it is unique, according to the mark
Object, which can correspond to, finds its affiliated image, and the form and content of marker can be randomly provided, it is preferred to use whichever angle
The object that will not all deform is observed, it is such as spherical, because in practical applications, if using the object of planar shaped, due to panorama phase
Machine imaging be it is radially vertical with object, when object and panorama camera center are at larger angle, be equivalent to image side faces, institute at
Image is unfavorable for image recognition calculating.
One unique number (identification code) can be established to each identification piece 10, to search.After identifying each marker
It can determine its coordinate, its coordinate value and number then established into corresponding relationship, and be stored into database.
Sequence relation of the data according to each marker on road in database, i.e. two-dimensional topology figure are formed to mark
Know the road-map that object is road sign.
After the completion of database in the step, that is, show that map in the regional scope and different kinds of roads information are complete
At can be for users to use.It can walk repeatedly in a region repeatedly, to enhance the robustness in final data library.
Step 300, using the loose impediment of the range map data base, when being moved in the regional scope, by complete
Scape camera obtains the realtime graphic of current location, calculates the calibration point of three or more markers in realtime graphic and moves
The current relative co-ordinate information of loose impediment can be obtained in the center of circle angle of object.
Here loose impediment is illustrated by taking the robot of automatically walk as an example, when the robot that the database is housed
When into the region, the realtime graphic of current environment can be obtained by panorama camera, by marker in realtime graphic
Identification, can retrieve the number of each marker, to can determine that the substantially coordinate range of robot, with machine from database
After the marker of artificial center connection respective numbers, the angle of each marker and robot is obtained, it can be true by triangulation
Determine the accurate coordinates information of current robot, which is that a continuous variation with image and marker is dynamic without offset
One relative coordinate, the i.e. location information of current robot.
The marker of respective numbers therein is at least three or more.
Present embodiment can be by the database established in advance, all road informations and corresponding mark in collecting zone
Object information realizes positioning in real time, whole process side then by using the user of database according to the marker around current location
Just quick.
Positioning navigation method structure proposed by the present invention is simple, facilitates arrangement, low cost can be in no aerogram
Number or complex electromagnetic environment under realize location navigation, and itself direction or direction can be obtained in the stationary case, be
To effective supplement of the radio-positioning navigations system such as GPS, Beidou.Suitable for be transported in the intensive cell of interior, tunnel, high building
Capable robot, AGV trolley, automation equipment etc. provide location navigation.
The absolute coordinate information that can keep the calibration point of each marker in the database, using the removable of the database
Animal body is by can be obtained the current absolute coordinate of loose impediment with the triangulation calculation of calibration point angle.
Here calibration point is a point for representing marker physical location.
Further, in the database, the angle of each marker in panorama camera and visual field can be calculated, so as to true
Determine the direction of current goal (automobile).
Due to target be linear motion, the picture element matrix of panorama camera be it is directive, so image planes anteriomedial
The angle between line and jackshaft between two or more markers of axis two sides, which combines, also contains target and road
Directional information,
It can establish for each image using loose impediment as the coordinate system of coordinate, such marker, which can be listed in, works as front
To two sides, i.e. the two sides of road, that is, the two sides of Y-axis.The mutual corresponding marker of two side positions is subjected to line, the company
Line and the axis of X-axis may will form an angle, can also be with X-axis axis as a comparison according to the direction of traveling.Calculate these
After angle storage in the database, directivity information can be increased for the topological structure sequence in database, including intersection is closed
System.
Reality when being moved in the road using the target (robot) of the range map data base, according to panorama camera acquisition
When image, establish coordinate system by dot of target, calculate the calibration point line of two markers of current X-axis or Y-axis two sides
With the real-time angle of X-axis or Y-axis, the angle information then and in database compares and calculates deviation, can be obtained current
The moving direction or direction of target, though target be it is static, it is real that this advantage is that the radio-positioning navigations equipment such as GPS does not have
Now not, they can only just can know that the direction or the direction of motion of target during target moves.
In an embodiment of the invention, a kind of specific structure of identification piece 10 is provided, which includes two
A symmetrical axis shape gengon 11, such as cylindrical, spindle, two axis shape gengons 11 are linked together by connecting rod, connecting rod
It can be rigid structure, be also possible to flexible structure, while being provided as the symmetrical polyhedron 12 of anchor point on connecting rod, equally
The symmetrical polyhedron 12 is also the structure that a shape is all shown from the viewing of any one angle, such as spherical, each axis
The striped 13 for representing the identification piece is provided on shape gengon 11.
Striped 13 can color ring different by multiple width and being spaced apart constitute, pass through the item to each identification piece 10
Line interval or width improve, and identification piece all in the same area can be made to have unique fringe counting method information respectively.?
In other embodiments, striped 13 can also be using other forms of expression, such as bar code form, figure pattern etc..
Projection imaging result can be made to be consistent using axis shape gengon 11, and symmetrical polyhedron 12 panorama camera at
Projection in image planes is a circle forever, finds the unique coordinate point of marker in image recognition calculating convenient for computer.
In yet another embodiment of the present invention, the structure of the identification piece 10 may also is that including a symmetrical axis
Shape gengon 11, and the connecting rod stretched out by the axial ends of the axis shape gengon 11, and be separately positioned on two connecting rods and make
For the symmetrical polyhedron 12 of anchor point, the striped 13 for representing the axis shape identification piece is provided on axis shape gengon 11.
Present embodiment compared with previous embodiment, difference be only that axis shape gengon 11 only one, and it is symmetrical more
Face body 12 is then arranged two, and striped 13, axis shape gengon 11, the structure of symmetrical polyhedron 12 are identical as previous embodiment.
As shown in figure 3, the establishment process of database is as follows:
1. obtaining a frame image of panorama camera shooting；
2. image forming unit receives image, and is filtered to image, the pretreatment such as binaryzation；
3. Search Flags object in the picture；
4. pair marker topography found carries out correction expansion processing, the normal viewing angle image of marker is obtained；
5. a pair marker is identified, compared, the number that it is represented is obtained, and this number is stored in and represents road and opens up
It flutters in the database of structure sequence, while the anchor point of distinguishing mark object, and obtains its coordinate；
6. calculating the angle of two the marker anchor point lines and Y-axis on Y-axis two sides opposite, the two anchor points are numbered
And this angle is stored in the database table for representing road topology structure direction；
7. judging Y direction two sides, whether there are 2 layer identification objects along X-direction；
If so, then: relevant marker number is recorded in the database for representing road topology structure cross reference；
If it is not, continuing to handle lower piece image by the sequence of 1-7, if all images are all handled
It finishes, then terminates entirely to work.
As shown in figure 4, the process of target location navigation is as follows:
1. shooting a frame image with panorama camera；
2. image processing unit collects image, image is filtered, the pretreatment such as binaryzation；
3. Search Flags object in the picture；
4. pair marker topography found carries out correction expansion processing, the normal viewing angle image of marker is obtained；
5. a pair marker is identified, compared, the number that it is represented is obtained, and in the number for representing road topology structure sequence
According to retrieving this number in the table of library, to and obtain the positioning coordinate range of target；
6. calculating 3 or object anchor point identified above can be obtained the accurate location information of target to the angle in the center of circle；
7. calculating the angle of two the marker anchor point lines and Y-axis on Y-axis two sides opposite, the two anchor points are numbered
And this angle with represent the data comparison saved in the database table of road topology structure direction, calculate its deviation, obtain mesh
Mark itself the direction of motion or orientation information；
If stopped 8. arriving at the destination, otherwise continue 1-7 process.
So far, although those skilled in the art will appreciate that present invention has been shown and described in detail herein multiple shows
Example property embodiment still without departing from the spirit and scope of the present invention, still can according to the present disclosure directly
Determine or deduce out many other variations or modifications consistent with the principles of the invention.Therefore, the scope of the present invention is understood that and recognizes
It is set to and covers all such other variations or modifications.
Claims (10)
1. a kind of method for carrying out location navigation using panoramic imagery is looked around, which comprises the steps of:
Step 100, panorama camera is mounted in a loose impediment, control loose impediment is pressed within the scope of selection area
Scheduled mobile route is mobile, obtains the image of surrounding in real time using panorama camera, and is sent to image processing unit；
Step 200, image processing unit pre-processes each image, then identifies the marker in each image, right
Each marker is numbered, and then using panorama camera as calibration point, identifies the anchor point and its coordinate of each marker,
Then above- mentioned information are stored in the database for representing road topology structure sequence, complete the foundation of range map data base；
Step 300, using the loose impediment of the range map data base, when moving in the regional scope, pass through panorama phase
Machine obtains the realtime graphic of current location, calculates the calibration point of three or more markers and loose impediment in realtime graphic
Center of circle angle, the current relative co-ordinate information of loose impediment can be obtained.
2. the method according to claim 1, wherein
The step 200 further includes following steps:
The coordinate system that loose impediment in each image is coordinate is established, two markers on X-axis or Y-axis two sides opposite are calculated
Calibration point line and X-axis or Y-axis angle, the number of the two markers and the angle information are then stored in number simultaneously
According in library.
3. the method according to claim 1, wherein
Using the loose impediment of the range map data base, by the realtime graphic of panorama camera acquisition current location, and with
Loose impediment is that dot establishes coordinate system, calculates the calibration point line and X of two markers of current X-axis or Y-axis two sides
The real-time angle of axis or Y-axis, the angle information then and in database compare and calculate deviation, can be obtained current removable
The moving direction of animal body.
4. the method according to claim 1, wherein
It further include the absolute coordinate information of the calibration point of each marker in the database, using the mobile article of the database
Body is by can be obtained the current absolute coordinate of loose impediment with the triangulation calculation of calibration point angle.
5. the method according to claim 1, wherein
Image processing unit is as follows to the preprocessing process of each image:
Image is filtered first and binary conversion treatment；Then the marker in image is determined, then to image and mark therein
Know object and carry out correction expansion processing, to obtain the normal viewing angle image of image and marker.
6. the method according to claim 1, wherein
The marker be image in select certain objects, or be placed in environmental professional secondary school for mark identification piece.
7. according to the method described in claim 6, it is characterized in that,
The identification piece includes the connecting rod of two axis shape gengons of two symmetrical axis shape gengons and connection, is arranged on connecting rod
There is the symmetrical polyhedron as anchor point, the striped for representing the identification piece is provided on the axis shape gengon.
8. according to the method described in claim 6, it is characterized in that,
The identification piece includes a symmetrical axis shape gengon, and the company stretched out by the axial ends of the axis shape gengon
Bar, and it is separately positioned on the symmetrical polyhedron on two connecting rods as anchor point, generation is provided on the axis shape gengon
The striped of the table axis shape identification piece.
9. method according to claim 7 or 8, which is characterized in that
The striped is different by multiple width and the color ring that is spaced apart is constituted, and the striped of each identification piece not phase
Together.
10. according to the method described in claim 9, it is characterized in that,
The symmetrical polyhedron is spherical shape.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910072658.6A CN109668568A (en) | 2019-01-25 | 2019-01-25 | A kind of method carrying out location navigation using panoramic imagery is looked around |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910072658.6A CN109668568A (en) | 2019-01-25 | 2019-01-25 | A kind of method carrying out location navigation using panoramic imagery is looked around |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109668568A true CN109668568A (en) | 2019-04-23 |
Family
ID=66149851
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910072658.6A Pending CN109668568A (en) | 2019-01-25 | 2019-01-25 | A kind of method carrying out location navigation using panoramic imagery is looked around |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109668568A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110332938A (en) * | 2019-06-20 | 2019-10-15 | 南京航空航天大学 | A mobile phone-based indoor monocular self-localization method |
| CN110441807A (en) * | 2019-07-29 | 2019-11-12 | 阎祯祺 | A kind of localization method and system of indoor user mobile terminal |
| CN110968705A (en) * | 2019-12-04 | 2020-04-07 | 敦煌研究院 | Navigation method, navigation device, navigation equipment, navigation system and storage medium |
| CN111722256A (en) * | 2020-07-01 | 2020-09-29 | 南京理工大学 | Ultra-high-precision positioning sensor combined with GPS positioning and panoramic imaging map matching |
| CN113126025A (en) * | 2021-04-23 | 2021-07-16 | 刘自禄 | Vehicle positioning method and positioning system |
| CN116499470A (en) * | 2023-06-28 | 2023-07-28 | 苏州中德睿博智能科技有限公司 | Optimal control method, device and system for positioning system of looking-around camera |
Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1569558A (en) * | 2003-07-22 | 2005-01-26 | 中国科学院自动化研究所 | Moving robot's vision navigation method based on image representation feature |
| JP2008059319A (en) * | 2006-08-31 | 2008-03-13 | Mitsubishi Electric Corp | Object recognition device, and image object positioning device |
| US20080273757A1 (en) * | 2005-01-28 | 2008-11-06 | Aisin Aw Co., Ltd. | Image Recognizing Apparatus and Method, and Position Determining Apparatus, Vehicle Controlling Apparatus and Navigation Apparatus Using the Image Recognizing Apparatus or Method |
| US20090210092A1 (en) * | 2008-02-15 | 2009-08-20 | Korea Institute Of Science And Technology | Method for self-localization of robot based on object recognition and environment information around recognized object |
| CN103335657A (en) * | 2013-05-30 | 2013-10-02 | 佛山电视台南海分台 | Method and system for strengthening navigation performance based on image capture and recognition technology |
| US20130297205A1 (en) * | 2012-05-02 | 2013-11-07 | Korea Institute Of Science And Technology | System and method for indoor navigation |
| CN103398717A (en) * | 2013-08-22 | 2013-11-20 | 成都理想境界科技有限公司 | Panoramic map database acquisition system and vision-based positioning and navigating method |
| CN104748738A (en) * | 2013-12-31 | 2015-07-01 | 深圳先进技术研究院 | Indoor positioning navigation method and system |
| CN105371847A (en) * | 2015-10-27 | 2016-03-02 | 深圳大学 | Indoor live-action navigation method and system |
| CN105841687A (en) * | 2015-01-14 | 2016-08-10 | 上海智乘网络科技有限公司 | Indoor location method and indoor location system |
| CN105973236A (en) * | 2016-04-26 | 2016-09-28 | 乐视控股（北京）有限公司 | Indoor positioning or navigation method and device, and map database generation method |
| CN106541404A (en) * | 2016-11-03 | 2017-03-29 | 四川阿泰因机器人智能装备有限公司 | A kind of Robot visual location air navigation aid |
| US20170185823A1 (en) * | 2014-04-07 | 2017-06-29 | Eyeways Systems Ltd. | Apparatus And Method For Image-Based Positioning, Orientation And Situational Awareness |
| CN108198216A (en) * | 2017-12-12 | 2018-06-22 | 深圳市神州云海智能科技有限公司 | A kind of robot and its position and orientation estimation method and device based on marker |
| CN108406731A (en) * | 2018-06-06 | 2018-08-17 | 珠海市微半导体有限公司 | A kind of positioning device, method and robot based on deep vision |
-
2019
- 2019-01-25 CN CN201910072658.6A patent/CN109668568A/en active Pending
Patent Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1569558A (en) * | 2003-07-22 | 2005-01-26 | 中国科学院自动化研究所 | Moving robot's vision navigation method based on image representation feature |
| US20080273757A1 (en) * | 2005-01-28 | 2008-11-06 | Aisin Aw Co., Ltd. | Image Recognizing Apparatus and Method, and Position Determining Apparatus, Vehicle Controlling Apparatus and Navigation Apparatus Using the Image Recognizing Apparatus or Method |
| JP2008059319A (en) * | 2006-08-31 | 2008-03-13 | Mitsubishi Electric Corp | Object recognition device, and image object positioning device |
| US20090210092A1 (en) * | 2008-02-15 | 2009-08-20 | Korea Institute Of Science And Technology | Method for self-localization of robot based on object recognition and environment information around recognized object |
| US20130297205A1 (en) * | 2012-05-02 | 2013-11-07 | Korea Institute Of Science And Technology | System and method for indoor navigation |
| CN103335657A (en) * | 2013-05-30 | 2013-10-02 | 佛山电视台南海分台 | Method and system for strengthening navigation performance based on image capture and recognition technology |
| CN103398717A (en) * | 2013-08-22 | 2013-11-20 | 成都理想境界科技有限公司 | Panoramic map database acquisition system and vision-based positioning and navigating method |
| CN104748738A (en) * | 2013-12-31 | 2015-07-01 | 深圳先进技术研究院 | Indoor positioning navigation method and system |
| US20170185823A1 (en) * | 2014-04-07 | 2017-06-29 | Eyeways Systems Ltd. | Apparatus And Method For Image-Based Positioning, Orientation And Situational Awareness |
| CN105841687A (en) * | 2015-01-14 | 2016-08-10 | 上海智乘网络科技有限公司 | Indoor location method and indoor location system |
| CN105371847A (en) * | 2015-10-27 | 2016-03-02 | 深圳大学 | Indoor live-action navigation method and system |
| CN105973236A (en) * | 2016-04-26 | 2016-09-28 | 乐视控股（北京）有限公司 | Indoor positioning or navigation method and device, and map database generation method |
| CN106541404A (en) * | 2016-11-03 | 2017-03-29 | 四川阿泰因机器人智能装备有限公司 | A kind of Robot visual location air navigation aid |
| CN108198216A (en) * | 2017-12-12 | 2018-06-22 | 深圳市神州云海智能科技有限公司 | A kind of robot and its position and orientation estimation method and device based on marker |
| CN108406731A (en) * | 2018-06-06 | 2018-08-17 | 珠海市微半导体有限公司 | A kind of positioning device, method and robot based on deep vision |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110332938A (en) * | 2019-06-20 | 2019-10-15 | 南京航空航天大学 | A mobile phone-based indoor monocular self-localization method |
| CN110332938B (en) * | 2019-06-20 | 2023-03-10 | 南京航空航天大学 | Indoor monocular self-positioning method based on mobile phone |
| CN110441807A (en) * | 2019-07-29 | 2019-11-12 | 阎祯祺 | A kind of localization method and system of indoor user mobile terminal |
| CN110968705A (en) * | 2019-12-04 | 2020-04-07 | 敦煌研究院 | Navigation method, navigation device, navigation equipment, navigation system and storage medium |
| CN111722256A (en) * | 2020-07-01 | 2020-09-29 | 南京理工大学 | Ultra-high-precision positioning sensor combined with GPS positioning and panoramic imaging map matching |
| CN113126025A (en) * | 2021-04-23 | 2021-07-16 | 刘自禄 | Vehicle positioning method and positioning system |
| CN116499470A (en) * | 2023-06-28 | 2023-07-28 | 苏州中德睿博智能科技有限公司 | Optimal control method, device and system for positioning system of looking-around camera |
| CN116499470B (en) * | 2023-06-28 | 2023-09-05 | 苏州中德睿博智能科技有限公司 | Optimal control method, device and system for positioning system of looking-around camera |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109668568A (en) | A kind of method carrying out location navigation using panoramic imagery is looked around | |
| Li | Mobile mapping: An emerging technology for spatial data acquisition | |
| CN106292697B (en) | An indoor path planning and navigation method for mobile devices | |
| Hong et al. | Image-based homing | |
| CN105547305B (en) | A kind of pose calculation method based on wireless location and laser map match | |
| CN108571971A (en) | A kind of AGV visual positioning system and method | |
| CN110361027A (en) | Robot path planning method based on single line laser radar Yu binocular camera data fusion | |
| CN105973236A (en) | Indoor positioning or navigation method and device, and map database generation method | |
| CN108917758B (en) | Navigation method and system based on AR | |
| CN105928498A (en) | Determination Of Object Data By Template-based Uav Control | |
| CN108120436A (en) | Real scene navigation method in a kind of iBeacon auxiliary earth magnetism room | |
| JP2012118666A (en) | Three-dimensional map automatic generation device | |
| KR102097416B1 (en) | An augmented reality representation method for managing underground pipeline data with vertical drop and the recording medium thereof | |
| CN111536946A (en) | Town layout planning terrain surveying and mapping method | |
| CN107972027B (en) | Robot positioning method and device and robot | |
| CN110260866A (en) | A kind of robot localization and barrier-avoiding method of view-based access control model sensor | |
| CN111083633B (en) | Mobile terminal positioning system, establishment method thereof and positioning method of mobile terminal | |
| CN106370160A (en) | Robot indoor positioning system and method | |
| CN105509716A (en) | Geographic information collection method based on augmented reality technology and device | |
| JP2022553750A (en) | Method for detecting infrastructure elements of an underground network and its mobile detector | |
| Tao et al. | Automated processing of mobile mapping image sequences | |
| CN112651991B (en) | Visual positioning method, device and computer system | |
| CN108180913A (en) | A kind of Quick Response Code alignment system based on 3D cameras | |
| CN110580721A (en) | Continuous area positioning system and method based on global identification map and visual image identification | |
| CN107702708A (en) | A kind of two-dimentional earth magnetism Distribution and localization method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190423 |