CN105973231A - Navigation method and navigation device - Google Patents
Navigation method and navigation device Download PDFInfo
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- CN105973231A CN105973231A CN201610510961.6A CN201610510961A CN105973231A CN 105973231 A CN105973231 A CN 105973231A CN 201610510961 A CN201610510961 A CN 201610510961A CN 105973231 A CN105973231 A CN 105973231A
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- image
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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
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
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Abstract
The invention discloses a navigation method and a navigation device. The navigation method comprises the following steps of determining a current navigation route and user position information of a terminal held by a user; shooting an image of a position where the user is located by a camera of the terminal; determining a guide identification and an identification position in the image according to the user position information, the current navigation route and an advancing reference substance in the image; displaying the guide identification in the image according to the identification position. According to the method disclosed by the embodiment of the invention, the guide identification is displayed in a real-time image and is combined with a surrounding reference object to guide the user to reach a destination and provide a more intuitive and accurate guidance for the user.
Description
Technical field
The present embodiments relate to navigation and image processing techniques, particularly relate to a kind of air navigation aid and device.
Background technology
The navigation service based on location technology using intelligent terminal to realize, is the widely used merits of current people
Energy.Navigation Service is generally divided into outdoor navigation and indoor navigation, and indoor navigation is near due to distance, to positioning accurate
Degree and navigation means are had higher requirement.
In prior art, user searches retail shop in the indoor environment such as megastore or transport hub or sets
Shi Shi, often through the prompting of inside, market or is navigated by some electronic charts.Use electronic chart
When navigating, it is first determined beginning and end, then cook up the route between beginning and end, with
During family hand-held intelligent terminal is advanced, by the location to intelligent terminal, constantly update user at route
In position, and on electronic chart, provide the user the guide of navigation.
But, the navigation of these electronic charts is all based on market plane graph and realizes, and plane graph is only drawn
The data such as building block, lack referring in particular to thing, and owing to the information change such as retail shop are frequent, plane object of reference
Easy expired inefficacy, so user easily makes mistakes in navigation procedure.
Summary of the invention
The present invention provides a kind of air navigation aid and device, more directly perceived and accurate to provide the user in navigation procedure
True guide.
First aspect, embodiments provides a kind of air navigation aid, including:
Determine Present navigation route and the customer position information of the held terminal of user；
Shoot the described user of acquisition by the photographic head of described terminal and be presently in the image of position；
According to the traveling reference substance in described customer position information, described Present navigation route and image, really
Fixed guiding mark and the home position in described image；
The described mark that guides is shown in described image according to home position.
Second aspect, the embodiment of the present invention additionally provides a kind of guider, including:
Route and position determination module, for determining Present navigation route and the customer location of the held terminal of user
Information；
Image collection module, is presently in position for shooting the described user of acquisition by the photographic head of described terminal
The image put；
Guide mark and determine module, for according to described customer position information, described Present navigation route and
Traveling reference substance in image, determines and guides mark and the home position in described image；
Guide mark display module, for the described mark that guides being carried out in described image according to home position
Display.
The present invention guides mark by showing on real time imaging, solves plan view navigation and lacks referring in particular to thing,
The easy expired inefficacy of plane object of reference, the problem that the user caused easily makes mistakes in navigation procedure, it is achieved for
User provides the effect more intuitively and accurately guided.
Accompanying drawing explanation
Fig. 1 is the flow chart of a kind of air navigation aid in the embodiment of the present invention one；
Fig. 2 is the navigation interface schematic diagram in the embodiment of the present invention one；
Fig. 3 is the flow chart of a kind of air navigation aid in the embodiment of the present invention two；
Fig. 4 is the flow chart of a kind of air navigation aid in the embodiment of the present invention three；
Fig. 5 is the navigation interface schematic diagram in the embodiment of the present invention three；
Fig. 6 is the structural representation of a kind of guider in the embodiment of the present invention four.
Detailed description of the invention
The present invention is described in further detail with embodiment below in conjunction with the accompanying drawings.It is understood that this
Specific embodiment described by place is used only for explaining the present invention, rather than limitation of the invention.The most also need
It is noted that for the ease of describing, accompanying drawing illustrate only part related to the present invention and not all knot
Structure.
Embodiment one
The flow chart of a kind of air navigation aid that Fig. 1 provides for the embodiment of the present invention one, the present embodiment is applicable to
User uses navigation software to carry out situation about navigating in indoor in terminal, and the method can be by being configured at terminal
Guider perform, specifically include following steps:
Step 110, determine Present navigation route and the customer position information of the held terminal of user.
Wherein, Present navigation route be according to user input terminal and starting point determine by starting point to the end
Navigation way.Customer position information may include that the obliquity and attitude of coordinate position and terminal.According in terminal
The indoor electronic map coordinate position that may determine that user or the building that received by terminal in nothing
Line accesses the signal intensity of focus and determines coordinate position.Terminal is may determine that by the gyroscope of configuration in terminal
Obliquity and attitude, i.e. determine the angle of terminal and horizontal plane.
Step 120, shot by the photographic head of terminal and obtain user and be presently in the image of position.
Wherein, user's handheld terminal, it is configured at the direction that the photographic head at the terminal back side advances towards user, this
Time obtain image by the photographic head of terminal, image includes the object in face of user in the visual field, in image
The traveling reference substance that these objects can be advanced according to Present navigation route as user.
Step 130, according to the traveling reference substance in customer position information, Present navigation route and image,
Determine and guide mark and home position in the picture.
Wherein, may determine that, according to customer position information and Present navigation route, route that user will advance
Shape, then combines the traveling reference substance in image and determines starting point, flex point and the destination node guiding mark,
I.e. determine and guide the shape of mark and guide mark position in the picture.Guide mark to be used for indicating user
Advance according to Present navigation route, and progressively reach home with reference to the traveling reference substance in image, example,
Guiding mark and include line segment or the curve of band arrow, arrow represents that direct of travel, line segment or curve represent traveling
The shape of route；Guide mark and can include line segment or the curve of one or more band arrow, such as, guide
Mark can be made up of the line segment of end to end multiple band arrows or curve, as in figure 2 it is shown, guide mark
Curve including three band arrows.Guide mark also include the terminal for identifying navigation way and/or join
The balloon-like examining thing guides mark.
Optionally, the traveling reference substance in image is identified in the following way: by image recognition technology at figure
Traveling reference substance is identified in Xiang；And/or the traveling reference substance being presently in the set point of position according to user
Positional information, and customer position information, determine the traveling reference substance in image.Optionally, traveling reference
Thing include following at least one: road, stair, elevator, gateway, room and barrier.Wherein,
By image recognition technology, the object extracted in image is mated, according to figure with default traveling reference substance
Object in Xiang and the matching result of default traveling reference substance, determine the traveling reference substance in image.Example,
Calculate the gray scale of each pixel of image, become according to the gray scale between the gray scale of pixel, and/or adjacent pixels point
Change, extract the object in image, such as road, stair, elevator, gateway, room and barrier
Deng, and the object extracted is mated with default traveling reference substance, determine in image according to matching result
Traveling reference substance.Identify that the traveling reference substance in image can be combined with customer position information and traveling reference
The positional information of thing, determines each traveling reference substance and user's present bit in the set point of user current location
The orientation put and distance, then according to position and the luffing angle of terminal of terminal, it may be determined that photographic head obtains
Traveling reference substance that the image taken includes and traveling reference substance position in the picture and size, thus really
Determine the traveling reference substance in image.
Step 140, by guiding mark show in the picture according to home position.
Wherein, after determining and guiding mark and home position in the picture, guidings is identified according to
Home position shows in the picture with default lighter color and default transparency, guides mark along with user
Movement correspondingly real-time change, thus guide user to arrive at the destination.Example, it is used for indicating traveling side
To guide mark can select the midpoint, base of image as starting point, according to the traveling reference substance in image
Determine point of inflexion on a curve with route shape, guide the destination node identified interim terminal in the picture (current
The position that in image, the user of display is to be reached, mark of i.e. advancing) place；For identifying Present navigation route
Terminal and traveling reference substance balloon-like mark display in corresponding position.
The technical scheme of the present embodiment, guides mark by showing on real time imaging, solves plan view navigation
Lacking referring in particular to thing, the easy expired inefficacy of plane object of reference, the user caused easily goes out in navigation procedure
Wrong problem, it is achieved the effect providing the user more intuitively and guiding accurately.
Embodiment two
The flow chart of a kind of air navigation aid that Fig. 3 provides for the embodiment of the present invention two, in the skill of above-described embodiment
On the basis of art scheme, optionally, step 130 includes:
Step 310, according to the traveling reference substance in customer position information, Present navigation route and image,
Determine on Present navigation route, the traveling reference substance in distance users set distance range and positional information thereof.
Wherein, may determine that user is on Present navigation route according to the coordinate position in customer position information
Position, determines the distance users set distance range on Present navigation route in conjunction with the traveling reference substance in image
Interior traveling reference substance, the positional information of traveling reference substance can be according to traveling reference substance position in the picture
Determine with the coordinate information of size and user, it is also possible to according to the traveling referential matter that identifies in image
The preset position information of the default traveling reference substance of coupling determines, the positional information of traveling reference substance includes advancing
The coordinate information of reference substance.
Step 320, according to customer position information and the positional information of traveling reference substance, determine user to advance
Guidance information between mark.
Wherein, traveling mark can be on Present navigation route, in distance users set distance range
The traveling reference substance that in traveling reference substance, distance users is farthest, or the traveling reference substance middle-range that image includes
From the traveling reference substance that user is farthest.After determining the positional information of customer position information and traveling reference substance,
Determine on Present navigation route by user's changing coordinates arrive traveling mark coordinate route length, walk
To and shape, i.e. determine that user is to the guidance information between traveling mark.
Step 330, in the picture identification traveling reference substance, and generate instruction traveling reference according to guidance information
The guiding mark of thing, determines the home position guiding mark in the picture.
Wherein, after identifying traveling reference substance in the picture, length, trend and shape according to route are true
Surely the starting point, flex point and the destination node that guide mark of instruction direct of travel, and composition guides the band of mark
The line segment of arrow or the quantity of curve, and determine that the balloon-like for identifying traveling mark guides mark at figure
Position in Xiang and size.Example, guide mark include following at least one: keep straight on mark, turn mark
Know, mark is advanced in segmentation, terminal identifies and traveling reference substance mark.
The technical scheme of the present embodiment, by the row in customer position information, Present navigation route and image
Enter reference substance and determine the home position guiding mark in the picture, and guide mark home position in the picture
Along with the mobile respective change of user, provide the user real-time navigation directions.
Embodiment three
The flow chart of a kind of air navigation aid that Fig. 4 provides for the embodiment of the present invention three, in the skill of above-described embodiment
On the basis of art scheme, optionally, step 120 includes:
Step 410, the real scene navigation instruction inputted in horizontal navigation interface according to user, open photographic head,
Shoot acquisition user by the photographic head of terminal and be presently in the image of position；Or
If step 420 monitors user under horizontal navigation interface state, and the inclination angle appearance of user terminal
In the range of state is in setting vertically, then open photographic head, shoot acquisition user by the photographic head of terminal current
The image of present position.
Wherein, horizontal navigation interface arranges startup real scene navigation virtual key, when user clicks on startup in fact
Scape navigation virtual key, then open photographic head, shoots acquisition user by the photographic head of terminal and is presently in position
The image put.Example, startup real scene navigation virtual key can be arranged on the upper right corner of navigation interface.
Photographic head can also be opened, when the inclination angle of terminal according to the obliquity and attitude of the terminal that customer position information includes
In the range of attitude is in setting vertically, i.e. terminal is in default angle interval with the angle of horizontal plane, opens
Photographic head, shoots acquisition user by the photographic head of terminal and is presently in the image of position.Example, preset
Angle interval is 70 °-90 °.
Optionally, after guiding mark is shown in the picture according to home position, word is guided
Information shows the bottom at navigation interface.Wherein, the navigation way of traveling mark is advanced to according to user
Situation determines that word guidance information, word guidance information include: travel direction information, approach road information,
Carry out at least one in range information and route shape information, example, as it is shown in figure 5, on navigation circle
The bottom in face shows " continuing straight through passageway ".
The technical scheme of the present embodiment, indicates or the inclination angle appearance of terminal by obtaining the real scene navigation of user's input
State starts real scene navigation, facilitates user to be switched fast between horizontal navigation and real scene navigation according to self custom.
Embodiment four
The structural representation of a kind of guider that Fig. 6 provides for the embodiment of the present invention four, the present embodiment provides
Device can be configured in terminal, guider 60 includes:
Route and position determination module 610, for determining Present navigation route and the user of the held terminal of user
Positional information；
Image collection module 620, is presently in position for shooting acquisition user by the photographic head of terminal
Image；
Guide mark and determine module 630, for according to customer position information, Present navigation route and image
In traveling reference substance, determine and guide mark and home position in the picture；
Guide mark display module 640, for guiding mark being shown in the picture according to home position.
The technical scheme of the present embodiment, guides mark by showing on real time imaging, solves plan view navigation
Lacking referring in particular to thing, the easy expired inefficacy of plane object of reference, the user caused easily goes out in navigation procedure
Wrong problem, it is achieved the effect providing the user more intuitively and guiding accurately.
Further, guide mark and determine that module includes:
Traveling reference substance recognition unit, for identifying traveling reference substance in the picture by image recognition technology；
And/or
Traveling reference substance determines unit, for the traveling reference being presently in the set point of position according to user
Object location information, and customer position information, determine the traveling reference substance in image.
Further, traveling reference substance include following at least one: road, stair, elevator, gateway,
Room and barrier.
Further, guide mark and determine that module includes:
Traveling reference substance positional information determines unit, for according to customer position information, Present navigation route with
And the traveling reference substance in image, determine on Present navigation route, in distance users set distance range
Traveling reference substance and positional information thereof；
Guidance information determines unit, is used for according to customer position information and the positional information of traveling reference substance, really
Determine user to the guidance information between traveling mark；
Guide mark and determine unit, for identifying traveling reference substance in the picture, and generate according to guidance information
The guiding mark of instruction traveling reference substance, determines the home position guiding mark in the picture.
Further, guide mark include following at least one:
Craspedodrome identifies, turning identifies, segmentation is advanced identifies, terminal identifies and traveling reference substance identifies.
Further, customer position information includes: coordinate position and the obliquity and attitude of terminal.
Further, image collection module specifically for:
The real scene navigation instruction inputted in horizontal navigation interface according to user, opens photographic head, passes through terminal
Photographic head shooting obtain user and be presently in the image of position；Or
If monitoring user under horizontal navigation interface state, and the obliquity and attitude of user terminal being in setting
In the range of Shu Zhi, then open photographic head, shoot acquisition user by the photographic head of terminal and be presently in position
Image.
Further, guider also includes: word guidance information display module, for word is guided letter
Breath display is in the bottom of navigation interface.
The said goods can perform the method that any embodiment of the present invention is provided, and possesses the corresponding merit of execution method
Can module and beneficial effect.
Note, above are only presently preferred embodiments of the present invention and institute's application technology principle.Those skilled in the art
It will be appreciated that the invention is not restricted to specific embodiment described here, can enter for a person skilled in the art
Row various obvious changes, readjust and substitute without departing from protection scope of the present invention.Therefore, though
So by above example, the present invention is described in further detail, but the present invention be not limited only to
Upper embodiment, without departing from the inventive concept, it is also possible to include other Equivalent embodiments more,
And the scope of the present invention is determined by scope of the appended claims.
Claims (14)
1. an air navigation aid, it is characterised in that including:
Determine Present navigation route and the customer position information of the held terminal of user；
Shoot the described user of acquisition by the photographic head of described terminal and be presently in the image of position；
According to the traveling reference substance in described customer position information, described Present navigation route and image, really
Fixed guiding mark and the home position in described image；
The described mark that guides is shown in described image according to home position.
Method the most according to claim 1, it is characterised in that identify described image in the following way
In traveling reference substance:
In described image, traveling reference substance is identified by image recognition technology；And/or
The traveling reference substance positional information being presently in the set point of position according to described user, and described
Customer position information, determines the traveling reference substance in described image.
Method the most according to claim 1 and 2, it is characterised in that under described traveling reference substance includes
State at least one: road, stair, elevator, gateway, room and barrier.
Method the most according to claim 1, it is characterised in that according to described customer position information, institute
State the traveling reference substance in Present navigation route and image, determine guiding mark and in described image
Home position includes:
According to the traveling reference substance in described customer position information, described Present navigation route and image, really
It is scheduled on described Present navigation route, the traveling reference substance in described user's set distance range and position thereof
Confidence ceases；
According to described customer position information and the positional information of traveling reference substance, determine that described user is to described row
Enter the guidance information between mark；
In described image, identify described traveling reference substance, and generate the described ginseng of advancing of instruction according to guidance information
Examine the guiding mark of thing, determine the described home position identified in described image that guides.
Method the most according to claim 1, it is characterised in that described guiding mark include following at least
One:
Craspedodrome identifies, turning identifies, segmentation is advanced identifies, terminal identifies and traveling reference substance identifies.
Method the most according to claim 1, it is characterised in that described customer position information includes: sit
Cursor position and the obliquity and attitude of described terminal.
Method the most according to claim 1, it is characterised in that shot by the photographic head of described terminal
Obtain described user to be presently in the image of position and include:
The real scene navigation instruction inputted in horizontal navigation interface according to user, opens photographic head, by described
The photographic head shooting of terminal obtains described user and is presently in the image of position；Or
If monitor described user under horizontal navigation interface state, and the obliquity and attitude of described user terminal
In the range of being in setting vertically, then open photographic head, shot by the photographic head of described terminal and obtain described use
Family is presently in the image of position.
8. a guider, it is characterised in that including:
Route and position determination module, for determining Present navigation route and the customer location of the held terminal of user
Information；
Image collection module, is presently in position for shooting the described user of acquisition by the photographic head of described terminal
The image put；
Guide mark and determine module, for according to described customer position information, described Present navigation route and
Traveling reference substance in image, determines and guides mark and the home position in described image；
Guide mark display module, for the described mark that guides being carried out in described image according to home position
Display.
Device the most according to claim 1, it is characterised in that guide mark and determine that module includes:
Traveling reference substance recognition unit, for identifying traveling ginseng by image recognition technology in described image
Examine thing；And/or
Traveling reference substance determines unit, for being presently in the traveling in the set point of position according to described user
Reference substance positional information, and described customer position information, determine the traveling reference substance in described image.
Device the most according to claim 8 or claim 9, it is characterised in that described traveling reference substance includes
Following at least one: road, stair, elevator, gateway, room and barrier.
11. devices according to claim 8, it is characterised in that guide mark and determine that module includes:
Traveling reference substance positional information determines unit, for according to described customer position information, described when leading
Traveling reference substance in air route line and image, determines on described Present navigation route, apart from described user
Traveling reference substance in set distance range and positional information thereof；
Guidance information determines unit, is used for according to described customer position information and the positional information of traveling reference substance,
Determine the guidance information between described user extremely described traveling mark；
Guide mark and determine unit, for identifying described traveling reference substance in described image, and according to guiding
Information generates the guiding mark indicating described traveling reference substance, determines that the described mark that guides is in described image
Home position.
12. devices according to claim 8, it is characterised in that described guiding mark include following extremely
One item missing:
Craspedodrome identifies, turning identifies, segmentation is advanced identifies, terminal identifies and traveling reference substance identifies.
13. devices according to claim 8, it is characterised in that described customer position information includes:
Coordinate position and the obliquity and attitude of described terminal.
14. devices according to claim 8, it is characterised in that image collection module specifically for:
The real scene navigation instruction inputted in horizontal navigation interface according to user, opens photographic head, by described
The photographic head shooting of terminal obtains described user and is presently in the image of position；Or
If monitor described user under horizontal navigation interface state, and the obliquity and attitude of described user terminal
In the range of being in setting vertically, then open photographic head, shot by the photographic head of described terminal and obtain described use
Family is presently in the image of position.
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| CN201610510961.6A CN105973231A (en) | 2016-06-30 | 2016-06-30 | Navigation method and navigation device |
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| CN201610510961.6A CN105973231A (en) | 2016-06-30 | 2016-06-30 | Navigation method and navigation device |
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