CN103424113B - Indoor positioning and navigating method of mobile terminal based on image recognition technology - Google Patents
Indoor positioning and navigating method of mobile terminal based on image recognition technology Download PDFInfo
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- CN103424113B CN103424113B CN201310334056.6A CN201310334056A CN103424113B CN 103424113 B CN103424113 B CN 103424113B CN 201310334056 A CN201310334056 A CN 201310334056A CN 103424113 B CN103424113 B CN 103424113B
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- 238000005516 engineering process Methods 0.000 title claims abstract description 19
- 238000000034 method Methods 0.000 title abstract description 8
- 238000004891 communication Methods 0.000 claims description 4
- 238000012545 processing Methods 0.000 claims description 2
- 230000008901 benefit Effects 0.000 abstract description 2
- 239000003550 marker Substances 0.000 description 4
- 230000004044 response Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 239000004744 fabric Substances 0.000 description 3
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- 230000001133 acceleration Effects 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000013480 data collection Methods 0.000 description 1
- 238000009432 framing Methods 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
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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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- 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
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3602—Input other than that of destination using image analysis, e.g. detection of road signs, lanes, buildings, real preceding vehicles using a camera
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- Radar, Positioning & Navigation (AREA)
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Abstract
The invention discloses an indoor positioning and navigating method of a mobile terminal based on an image recognition technology. The indoor positioning and navigating method comprises the following steps: 1) acquiring a real-time scene image of the position where a user is located; 2), sending the real-time image information to a server, and performing the characteristic comparison and recognition on a plurality of real-time scene image information in a server database; 3) obtaining the matched prestored scene image information and the corresponding prestored scene position information; 4), sending the corresponding prestored scene position information to the mobile terminal; 5) displaying the scene map, and marking the corresponding prestored scene position information in the scene map. Through the adoption of the method, the scene positioning is achieved by practical scenes on the spot directly, and the method has the advantages of simplicity, convenience, flexibility, accuracy, strong reliability, strong adaptability, and capability of covering any position.
Description
Technical field
The present invention relates to mobile terminal indoor positioning and navigation application and mobile internet technical field, particularly relate to a kind of mobile terminal based on the indoor positioning of image recognition technology and air navigation aid.
Background technology
Along with popularizing of smart mobile phone application, the application of the outdoor position & navigation of the mobile terminal based on GPS is increasingly mature; Indoor positioning navigation then refers to that the position in interior of building or indoor environment is located and target navigation, due to the interior space and building structure complexity, simple GPS technology cannot meet positioning requirements, therefore diversified indoor positioning technologies and method have been there is, mainly comprise: the signal framing such as WiFi, communication base station, bluetooth, NFC, RFID, ultrasonic, earth magnetism, Quick Response Code and specific identifier thing location, and utilize the locator meams etc. of embedded in mobile phone sensor (gyroscope, acceleration transducer, aspect sensor etc.) pursuit movement.
Above-mentioned all kinds of indoor positioning and airmanship or by various induction of signal to locate local position, or need to settle location marker, there is jitter respectively, locate inaccurate, easily to break down or the problem and blemish such as damage, or due to hardware device laying, field signal acquisition, lay the engineer operations such as location marker, need property management and relevant owner aspect to coordinate, thus enforcement difficulty is large, operation cost is high; Simultaneously, the mode of Quick Response Code and specific identifier thing is such as set in indoor, also there is Quick Response Code and specific identifier thing must be arranged in position, cannot optional position arrange defect, thus reduce the accuracy of location, on the other hand, Quick Response Code and specific identifier thing are easily damaged because of artificial or unartificial factor, add extra maintenance cost.In view of above-mentioned factors, indoor positioning and navigation are still difficult universal so far.
Summary of the invention
The technical problem to be solved in the present invention overcomes defect of the prior art, the indoor positioning of a kind of mobile terminal based on image recognition technology and air navigation aid are provided, mainly for the position & navigation of interior of building, main points are to adopt scene locator meams, use the built-in camera function of mobile terminal, obtain environment real scene image information near user, using mated position as reference, thus know self-position.
For solving the problem, a kind of mobile terminal of the present invention, based on the indoor positioning of image recognition technology and air navigation aid, comprises the following steps:
1) the instant scene image of user present position is obtained;
2) described instant scene image information is sent to server, and with the some scene image information that prestore in server database carry out aspect ratio to, identify; Wherein each pre-stored image information correspondence one prestores field position information;
3) the prestore field position information corresponding with the scene image information that prestores that the scene image information that prestores and this of described instant scene image information match match is obtained;
4) the field position information that prestores corresponding for the scene image information that prestores matched obtained in step 3 is sent to mobile terminal;
5) displaying scene map, and indicated in the field position information that prestores corresponding for the scene image information that prestores matched obtained in step 3 at the scene map.
After described step 5, also comprise:
6) the navigation feature fill order for target location is performed.
Further comprising the steps of before described step 3:
21) judge instant scene image information whether can with a certain scene image information match that prestores, if so, enter step 3, if not, prompting user obtains instant scene image again, and returns step 1.
Data acquisition in described database, comprises the following steps:
A) obtain fabric structure figure and each floor plan, set up indoor map;
B) determine multiple location point at Indoor environment, gather indoor scene image at each location point respectively;
C) the indoor scene image collected is associated with the location point gathering this image.
Between described mobile terminal and server, carry out communication by mobile internet.
Described mobile terminal comprises smart mobile phone, panel computer or Wearable electronic product.
The described fill order relative position comprised from user position to target location shows, path shows and navigation instruction.
Adopt mobile terminal of the present invention based on the indoor positioning of image recognition technology and air navigation aid, the on-the-spot actual scenery of direct utilization realizes scene location, advantage is simple, convenient, flexibly, accurately, reliability is strong, strong adaptability, optional position can be covered, and both any equipment for locating need not be installed at the scene, or build private server, also any marker for locating need not be settled at the scene, the stability avoiding other all kinds of locator meams (as WiFi location etc.) is bad, the problems such as location is inaccurate, it also avoid complicated tedious work and the operation cost of equipment I&M, and marker installation position is limited, not easily look for and the easy problem such as destroyed.
Accompanying drawing explanation
Fig. 1 is the data acquisition flow of database in the present invention;
Fig. 2 is indoor positioning flow process in the present invention;
Fig. 3 is the positioning starting interface schematic diagram of mobile terminal in the present invention;
Fig. 4 is the positioning action interface schematic diagram of mobile terminal in the present invention;
Fig. 5 is the locating and displaying interface schematic diagram of mobile terminal in the present invention.
Embodiment
In order to make those skilled in the art person understand technical solution of the present invention better, below in conjunction with embodiment, the present invention is described in further detail, but the present invention is not limited to listed embodiment.
A kind of mobile terminal of the present invention is based on the indoor positioning of image recognition technology and air navigation aid, need user at such as smart mobile phone, panel computer, and the indoor positioning of tool for mounting for graphic based recognition technology and the client application software of navigation feature on the mobile terminals such as electronic product dressed by glasses (Google's glasses), wrist-watch etc., this client is connected by the background server of mobile Internet with client operator; Or add and can carry this service and other client application platform (as: micro-letter public account number etc.) of operator's background server can be served by join dependency location navigation.
The above-mentioned operator of this location navigation service that provides needs first to complete following data collection steps (as shown in Figure 1):
A) obtain fabric structure figure and each floor plan, set up indoor map;
B) determine multiple location point at Indoor environment, gather indoor scene image at each location point respectively; In this step, data acquisition personnel can use the image collecting device of such as digital camera, at described location point place, gather the indoor scene image near it; At each location point place, multiple image can be gathered along different angles and direction; Due to this mode of taking pictures can be adopted to obtain indoor scene image, therefore not by the restriction in place, as long as at the location point that can photograph scene, just can take great amount of images arbitrarily, for follow-up accurate location provides with reference to supporting;
C) associated with the location point gathering this image by the indoor scene image collected, described location point information is the field position information that prestores; The information that each location point is corresponding is determined in the fabric structure figure simultaneously obtained in step and each floor plan.
After establishing database, operator can also upgrade database in good time simultaneously.
User, in Indoor environment execute-in-place location navigation function, need complete following steps (as shown in Figure 2):
1) the instant scene image of user present position is obtained;
In this step, user is when needs indoor navigation, having in its mobile terminal can be used to the present invention is based on the indoor positioning of pattern recognition technique and the client application software of navigation feature, first start this application software, enter locating interface (as shown in Figure 3); User selects to start location, then camera function is opened, displaying scene picture (as shown in Figure 4); User selects the scene can in neighbouring environment with terrestrial reference function as reference point, and mobile terminal camera lens is aimed at this scene, clicks and takes pictures or scan, thus obtains the instant scene image of user present position;
2) mobile terminal acquisition instant scene image after, described instant scene image information is sent to server, server the some scene image information that prestore in the instant scene image information and date storehouse received are carried out aspect ratio to, identify; Wherein each pre-stored image information correspondence association one prestores the information of field position information, this prestore field position information and foregoing location point;
When user obtains instant scene image, possible shooting angle, the depth of field and acquisition prestore scene image time different, or the scene at scene is at least partially obscured, therefore instant scene image possibly that user obtains cannot be identical with the scene image that prestores, therefore prestore scene image information and instant scene image of some in this step in server called data storehouse is compared by image recognition technology, and judge identical with instant scene image or the akin scene image that prestores, the degree of approximation of the two can set arbitrarily as required, such as in the interval of 60% ~ 100%, namely when instant scene image with prestore the degree of approximation of scene image in above-mentioned interval range time, information match both then judging,
Image recognition technology can realize the comparison to two width picture feature information, thus determine the two similarity, therefore without the need to having the coded graphics of recognition feature, natural image or object at indoor additional, only need the image of the real scene original appearance obtaining indoor stored in database as the scene image that prestores, then when user needs location, take instant scene image and these scene images that prestores carry out image recognition, find out the scene image that prestores matched with it;
Between described mobile terminal and server, carry out communication by mobile internet;
Use mobile internet to be connected with the server on backstage by mobile terminal and carry out exchanges data, the data processing function that background server is powerful can be utilized, quick promptly find the identical or akin scene image that prestores of the instant scene image sent with mobile terminal, a large amount of scene images that prestores can be stored, to meet pinpoint needs in server simultaneously;
21) judge instant scene image information whether can with a certain scene image information match that prestores, if so, enter step 3, if not, prompting user obtains instant scene image again, and returns step 1;
May quality problems be there are in the instant scene image collected due to user, or the scene image information prestored in database is not enough, likely exist instant scene image information cannot with the situation of the scene image information match that prestores, and then cannot location be completed, therefore when there is above-mentioned situation, server sends information prompting user to mobile terminal and again obtains instant scene image, and returns step 1;
3) when instant scene image information can with a certain prestore scene image information match time, then obtain this scene image information that prestores, and the field position information that prestores that this scene image information that prestores matched is corresponding;
4) the field position information that prestores corresponding for the scene image information that prestores matched obtained in step 3 is sent to mobile terminal;
5) mobile terminal displaying scene map, and indicated in the field position information that prestores corresponding for the scene image information that prestores matched obtained in step 3 at the scene map, this sign point is the anchor point of user, as shown in Figure 5;
6) the navigation feature fill order for target location is performed.
The described fill order relative position comprised from user position to target location shows, path shows and navigation instruction.
User can also obtain at any time and collect instant scene image information, searches position (as: parking spot, merchant store position etc.) so that follow-up.
The above is only basic embodiment of the present invention; for those skilled in the art; under the premise without departing from the principles of the invention, can also make some improvement, retouching and development, these also should be considered as protection scope of the present invention based on improvement of the present invention, retouching and development.
Claims (2)
1. mobile terminal is based on the indoor positioning of image recognition technology and an air navigation aid, it is characterized in that, comprises the following steps:
1) the instant scene image of user present position is obtained;
In this step, user, when needs indoor navigation, can use the indoor positioning of graphic based recognition technology and the client application software of navigation feature in its mobile terminal, first start this application software, enter locating interface; User selects to start location, then camera function is opened, displaying scene picture; User selects the scene can in neighbouring environment with terrestrial reference function as reference point, and mobile terminal camera lens is aimed at this scene, clicks and takes pictures or scan, thus obtains the instant scene image of user present position;
2) mobile terminal acquisition instant scene image after, described instant scene image information is sent to server, server the some scene image information that prestore in the instant scene image information and date storehouse received are carried out aspect ratio to, identify; Wherein each pre-stored image information correspondence association one prestores field position information;
When user obtains instant scene image, possible shooting angle, the depth of field and acquisition prestore scene image time different, or the scene at scene is at least partially obscured, therefore instant scene image possibly that user obtains cannot be identical with the scene image that prestores, therefore prestore scene image information and instant scene image of some in this step in server called data storehouse is compared by image recognition technology, and judge identical with instant scene image or the akin scene image that prestores, the degree of approximation of the two can set arbitrarily as required, namely when instant scene image with prestore the degree of approximation of scene image in above-mentioned interval range time, information match both then judging, image recognition technology can realize the comparison to two width picture feature information, thus determine the two similarity, therefore without the need to having the coded graphics of recognition feature, natural image or object at indoor additional, only need the image of the real scene original appearance obtaining indoor stored in database as the scene image that prestores, then when user needs location, take instant scene image and these scene images that prestores carry out image recognition, find out the scene image that prestores matched with it, between described mobile terminal and server, carry out communication by mobile internet, use mobile internet to be connected with the server on backstage by mobile terminal and carry out exchanges data, the data processing function that background server is powerful can be utilized, quick promptly find the identical or akin scene image that prestores of the instant scene image sent with mobile terminal, a large amount of scene images that prestores can be stored, to meet pinpoint needs in server simultaneously,
Judge instant scene image information whether can with a certain scene image information match that prestores, if so, enter step 3), if not, prompting user obtains instant scene image again, and returns step 1);
3) the prestore field position information corresponding with the scene image information that prestores that the scene image information that prestores and this of described instant scene image information match match is obtained;
4) the field position information that prestores corresponding for the scene image information that prestores matched obtained in step 3) is sent to mobile terminal;
5) displaying scene map, and indicated in the field position information that prestores corresponding for the scene image information that prestores matched obtained in step 3 at the scene map;
6) execution is for the navigation feature fill order of target location, and the described fill order relative position comprised from user position to target location shows, path shows and navigation instruction.
2. mobile terminal as claimed in claim 1 is based on the indoor positioning of image recognition technology and air navigation aid, and it is characterized in that, the data acquisition in described database, comprises the following steps:
A) Indoor environment map is set up;
B) determine multiple location point at Indoor environment, gather indoor scene image at each location point respectively;
C) the indoor scene image collected is associated with the location point gathering this image.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310334056.6A CN103424113B (en) | 2013-08-01 | 2013-08-01 | Indoor positioning and navigating method of mobile terminal based on image recognition technology |
| PCT/CN2013/084629 WO2015014018A1 (en) | 2013-08-01 | 2013-09-29 | Indoor positioning and navigation method for mobile terminal based on image recognition technology |
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| CN201310334056.6A CN103424113B (en) | 2013-08-01 | 2013-08-01 | Indoor positioning and navigating method of mobile terminal based on image recognition technology |
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| CN103424113A CN103424113A (en) | 2013-12-04 |
| CN103424113B true CN103424113B (en) | 2014-12-31 |
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