CN106289263A - Indoor navigation method and device - Google Patents

Abstract

The embodiment of the invention discloses a kind of indoor navigation method and device, relate to airmanship.Described method includes: ask according to Client-initiated indoor navigation, obtains at least two width depth maps that terminal generates under preview state of taking pictures；At least the indoor navigation terminal that at least two width depth maps and user input is sent to server；Receive positioning associated information and the indoor navigation route of the location Reference that server returns；When determining that user arrives Reference position, location, according to indoor navigation route, terminal use is carried out indoor navigation.The technical scheme of the embodiment of the present invention can realize without at any hardware of indoor deployment, the depth map only obtained by terminal, i.e. can determine that the accurate location positioning Reference near terminal, and after determining that user arrives this Reference position, location, realize providing the user the effect of indoor navigation service accurately, optimize existing indoor navigation technology, improve the precision of indoor navigation.

Description

Indoor navigation method and device

Technical field

The present embodiments relate to airmanship, particularly relate to a kind of indoor navigation method and device.

Background technology

It is known that GPS (Global Positioning System, global positioning system), although positioning precision is high, covers Lid scope is wide, but but has an obvious defect, it is simply that indoor positioning poor effect, it is impossible to meet indoor positioning covering and Required precision (its precision is generally other at hundred meters or tens meter levels).And along with popularizing of smart mobile phone and sending out of mobile Internet Exhibition, map and navigation type software will gradually have indoor positioning demand.

During realizing the present invention, inventor finds: at present, Wi-Fi (Wireless-Fidelity, wireless guarantor Very) focus location is increasingly becoming the important way of indoor positioning.But existing Wi-Fi Hotspot location technology mainly applies triangle Location technology, it may be assumed that utilize the difference in signal strength XOR of three Wi-Fi Hotspots that smart mobile phone receives to receive three Wi-Fi The time difference of the signal of focus positions.This localization method is very sensitive to indoor environment, and positioning precision is relatively low.

In addition to Wi-Fi Hotspot positions, also bluetooth, ZigBee (also referred to as purple peak), ultra broadband and RFID Technology such as (Radio Frequency Identification, radio frequency identification) can realize indoor positioning, but these Technology suffers from disposing difficult, equipment complexity, high in cost of production shortcoming.

Summary of the invention

In view of this, the embodiment of the present invention provides a kind of indoor navigation method and device, to optimize existing indoor navigation Technology, improves the precision of indoor navigation.

First aspect, embodiments provides a kind of indoor navigation method, including:

The indoor navigation request initiated according to terminal use, obtains at least two width that terminal generates under preview state of taking pictures Depth map, wherein, includes overlapping region in adjacent two width depth maps, the request of described indoor navigation at least includes that described terminal is used The indoor navigation terminal of family input；

The indoor navigation terminal inputted at least two width depth maps described in major general and described terminal use is sent to service Device, described at least two width depth maps are used for determining location Reference, and described location Reference is used for and described indoor navigation Terminal determines indoor navigation route together；

Receive the positioning associated information of the described location Reference that described server returns and described indoor navigation road Line, the positioning associated information of described location Reference is used for instructing terminal use to identify described location Reference；

When determining that described terminal use arrives described Reference position, location, according to described indoor navigation route Described terminal use is carried out indoor navigation.

Second aspect, the embodiment of the present invention additionally provides a kind of indoor navigation method, including:

At least receive at least two width depth maps and indoor navigation terminal that terminal sends, wherein, adjacent two width depth maps In include overlapping region；

According to described at least two width depth maps and the indoor map storehouse that prestores, determine the location corresponding with described depth map Reference, and determine the position at Reference place, described location；

Obtain the positioning associated information of described location Reference, and according to the position at Reference place, described location with And described indoor navigation terminal determines that indoor navigation route, the positioning associated information of described location Reference are used for instructing described The user of terminal identifies described location Reference；

Positioning associated information and the described indoor navigation route of described location Reference are sent to described terminal.

The third aspect, embodiments provides a kind of indoor navigation device, is configured at terminal, including:

Depth map acquisition module, for the indoor navigation request initiated according to terminal use, obtains terminal in preview of taking pictures At least two width depth maps generated under state, wherein, include overlapping region in adjacent two width depth maps, and described indoor navigation please Seek the indoor navigation terminal at least including that described terminal use inputs；

Depth map sending module, for the indoor inputted at least two width depth maps described in major general and described terminal use Navigation terminal is sent to server, and described at least two width depth maps are used for determining location Reference, described location Reference For determining indoor navigation route together with described indoor navigation terminal；

Navigation information receiver module, for receiving the positioning associated letter of the described location Reference that described server returns Breath and described indoor navigation route, it is described that the positioning associated information of described location Reference is used for instructing terminal use to identify Location Reference；

Indoor navigation module, is used for when determining that described terminal use arrives described Reference position, location, root According to described indoor navigation route, described terminal use is carried out indoor navigation.

Fourth aspect, the embodiment of the present invention additionally provides a kind of indoor navigation device, is configured at server end, including:

Navigational reference data obtaining module, at least receiving at least two width depth map and the indoor navigation that terminal sends Terminal, wherein, includes overlapping region in adjacent two width depth maps；

Location Reference acquisition module, for according to described at least two width depth maps and the indoor map storehouse that prestores, Determine the location Reference corresponding with described depth map, and determine the position at Reference place, described location；

Indoor navigation route determination module, for obtaining the positioning associated information of described location Reference, and according to institute Position and the described indoor navigation terminal of stating Reference place, location determine indoor navigation route, described location Reference Positioning associated information for instructing the user of described terminal to identify described location Reference；

Navigation information sending module, for by the positioning associated information of described location Reference and described indoor navigation Route sends to described terminal.

Indoor navigation method that the embodiment of the present invention provides and device, under terminal and server end common coordinates, lead to Cross terminal to ask according to Client-initiated indoor navigation, obtain at least two width depth of field that terminal generates under preview state of taking pictures Figure, is at least sent to server by the indoor navigation terminal that at least two width depth maps and user input, and server determines and scape The location Reference that deep figure matches, and the indoor navigation route determined by location Reference and indoor navigation terminal returns Back to this terminal；When terminal determines that user arrives Reference position, location, according to indoor navigation route to this user Carry out the technological means of indoor navigation, it is possible to achieve without at the indoor any hardware device of indoor deployment, only being obtained by terminal Depth map, i.e. can determine that the accurate location of in terminal surrounding environment one location Reference, and and then determining user After arriving this Reference position, location, it is achieved provide the user the technique effect of indoor navigation service accurately, optimize Existing indoor navigation technology, decrease indoor navigation realizes cost, improve the precision of indoor navigation.

Accompanying drawing explanation

Fig. 1 is the flow chart of a kind of indoor navigation method that the embodiment of the present invention one provides；

Fig. 2 is the flow chart of a kind of indoor navigation method that the embodiment of the present invention two provides；

Fig. 3 is the flow chart of a kind of indoor navigation method that the embodiment of the present invention three provides；

Fig. 4 is the flow chart of a kind of indoor navigation method that the embodiment of the present invention four provides；

Fig. 5 is the flow chart of a kind of indoor navigation method that the embodiment of the present invention five provides；

Fig. 6 is the structure chart of a kind of indoor navigation device that the embodiment of the present invention six provides；

Fig. 7 is the structure chart of a kind of indoor navigation device that the embodiment of the present invention seven provides；

Fig. 8 is the structure chart of a kind of indoor navigation device that the embodiment of the present invention eight provides；

Fig. 9 is the structure chart of a kind of indoor navigation device that the embodiment of the present invention nine provides.

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 place is retouched The specific embodiment stated is used only for explaining the present invention, rather than limitation of the invention.It also should be noted that, in order to just Part related to the present invention is illustrate only rather than entire infrastructure in description, accompanying drawing.

It also should be noted that, for the ease of describe, accompanying drawing illustrate only part related to the present invention rather than Full content.It should be mentioned that, some exemplary embodiments are described before being discussed in greater detail exemplary embodiment Become the process or method described as flow chart.Although operations (or step) is described as the process of order by flow chart, but It is that many of which operation can be implemented concurrently, concomitantly or simultaneously.Additionally, the order of operations can be by again Arrange.The most described process can be terminated, it is also possible to have the additional step being not included in accompanying drawing. Described process can correspond to method, function, code, subroutine, subprogram etc..

Embodiment one

The flow chart of a kind of indoor navigation method that Fig. 1 provides for the embodiment of the present invention one, the method can be led by indoor Boat device performs, and this device can be realized by software and/or hardware, and typically can be integrated in the terminal that can obtain depth map, With prestore the server in indoor map storehouse with the use of, wherein, described terminal can include digital camera, smart mobile phone and Panel computer etc..As it is shown in figure 1, the method for the present embodiment specifically includes:

110, the indoor navigation request initiated according to terminal use, obtains terminal and generates at least under preview state of taking pictures Two width depth maps, wherein, include overlapping region in adjacent two width depth maps, the request of described indoor navigation at least includes described end The indoor navigation terminal of end subscriber input.

In the present embodiment, the request of described indoor navigation specifically refers to be triggered (typically, tapping of generation by terminal use Beginning indoor navigation control in map or navigation application), for indicating described terminal to proceed by the instruction of indoor navigation.

Wherein, preview state of taking pictures specifically refers to terminal and opens the state of photographic head seizure shooting picture, and depth map refers to Including the picture of depth of view information, and depth of view information includes the range information between subject and cam lens.

Firstly, it is necessary to be pointed out that: the inventive concept of the present invention is the depth map being obtained surrounding by terminal, with clothes Comparing in the indoor map storehouse that business device end prestores, and then realizes precisely identifying the object in depth map, with final root According to the object precisely identified, terminal is carried out indoor positioning accurately.

Wherein, identifying the accurate of object in described depth map to realize server, terminal needs at least to obtain at least Two that include overlapping region and at least two incomplete same width depth maps are sent to server.

Optionally, the indoor navigation request initiated according to terminal use, obtain what terminal generated under preview state of taking pictures At least two width depth maps include:

The indoor navigation request initiated according to terminal use, opens the dual camera of described terminal；By described double shootings Head is carried out taking pictures preview, to obtain the first depth map；Point out described terminal use that described terminal is carried out the rotation of shooting angle； After described terminal use completes the rotation of shooting angle, carry out taking pictures preview again by described dual camera, to obtain Two depth maps.

Can be drawn by prior art, when the same surface configuration of terminal has parallel dual camera, take the photograph due to double As having certain angle between head, when dual camera is opened and carried out taking pictures preview simultaneously, can generate at terminal inner and clap According to the three-dimensional depth map that the two dimensional image of display in preview interface is corresponding；In order to obtain at least two width depth maps, terminal can be After obtaining the first depth map, by human-computer interaction interface warning terminal user, terminal is carried out the rotation of certain angle, such as: " less than 30 degree or less than 45 degree etc. ", to obtain and partly overlapping second depth map of the first depth map.

Wherein, described shooting angle can be preset according to practical situation, and this is not limited by the present embodiment.

120, the indoor navigation terminal inputted at least two width depth maps described in major general and described terminal use is sent to Server, described at least two width depth maps are used for determining location Reference, and described location Reference is used for and described indoor Navigation terminal determines indoor navigation route together.In the present embodiment, when terminal use needs to carry out indoor navigation, can be at end First end inputs corresponding indoor navigation terminal.Therefore, after terminal obtains at least two width depth maps, by depth map with indoor Navigation terminal is sent along to server.

In an optional embodiment of the present embodiment, server can according to the indoor map storehouse prestored determine with The location Reference that at least two width depth maps that described terminal sends match, and by described location Reference with described The indoor navigation route that indoor navigation terminal determines.

Accordingly, prestoring indoor map storehouse in the server, in this indoor map storehouse, storage has one or more Two dimension in building or the indoor map data of three-dimensional.Server is processed by certain data, in indoor map storehouse Determine the location Reference matched with described depth map.

Described location Reference specifically refers to the shooting object matched in depth map with indoor map storehouse.Its In, due to shooting object same in depth map depth of view information should identical and pixel continuous, therefore can pass through depth map One or more shooting object can be identified.Optionally, location Reference can be the subject that depth map identifies The shooting object that in body, distance terminal use is nearest, it is also possible to occupy largest face in the shooting object that depth map identifies A long-pending shooting object etc., this is not limited by the present embodiment.

In an object lesson, terminal use includes one by the depth map that dual camera obtains, and " animal is carved Picture ", and should " animal statue " be that multiple shooting object middle-ranges of depth map identification are nearest from terminal use, then can and incite somebody to action this " animal statue " is as described location Reference.

130, the positioning associated information and the described indoor that receive the described location Reference that described server returns are led Air route line, the positioning associated information of described location Reference is used for instructing terminal use to identify described location Reference.

It is understood that owing to terminal use is in indoor environment, therefore by existing indoor positioning technologies to this It is inaccurate that terminal use carries out location.But, owing in server, storage has indoor map office, therefore, server obtains Location Reference positional information be accurately.If able to it is in place that terminal use is directed to this location Reference institute Put, then terminal use can be carried out indoor navigation accurately.

Accordingly, it would be desirable to by being used for instructing terminal use to identify, the positioning associated information of described location Reference is supplied to end End subscriber, so that described terminal use can identify this location Reference around in environment, and final correct arrival should The position of location Reference.

Optionally, the positioning associated information of described location Reference include following at least one: described location reference substance Relative distance information between body and described terminal use, the attribute description information of described location Reference and described location The shape information of Reference.

Typically, server is by depth of view information corresponding with this location Reference in depth map, it may be determined that this is fixed Distance between the object distance cam lens of position, and then may determine that the phase between location Reference and described terminal use Adjust the distance information；

The attribute description information of described location Reference specifically refers to be described the attribute of location Reference Information, such as: " XX sculpture ", " XX communal facility " or " the X outlet of XX sales field " etc..Wherein, this attribute description information is permissible Indoor map storehouse prestores.

The shape information of described location Reference specifically refers to the information being described the shape of location Reference, Such as: " square ", " oval " or " rhombus " etc..Wherein, this shape information can be carried out in advance in indoor map storehouse Storage can also be obtained by image recognition technology in real time by server.

Accordingly, described server can basis be starting point with this Reference position, location, the indoor navigation of acquisition Terminal is terminal, generates indoor navigation route.

140, when determining that described terminal use arrives described Reference position, location, according to described indoor navigation Route carries out indoor navigation to described terminal use.

In the present embodiment, can determine by the way of terminal use triggers that described terminal use arrives described location ginseng Examine object position (such as, when terminal use determines this Reference position, location of arrival, tap map or lead Setting control in boat application), it is also possible to by scape corresponding with this location Reference in the depth map that terminal obtains in real time Deeply convince that breath determines that described terminal use arrives Reference position, described location.And then can be according to described indoor navigation road Line carries out indoor navigation to described terminal use.

Wherein, during terminal use is carried out indoor navigation, inertial navigation principle can be taked, by obtaining terminal The movement state information of user, carries out indoor navigation to this terminal use.

The indoor navigation method that the embodiment of the present invention provides, under jointly the coordinating of terminal and server end, passes through terminal Ask according to Client-initiated indoor navigation, obtain at least two width depth maps that terminal generates under preview state of taking pictures, at least The indoor navigation terminal that at least two width depth maps and user input is sent to server, and server determines and depth map phase The location Reference joined, and returned to this end by location Reference and the indoor navigation route that determines of indoor navigation terminal End；When terminal determines that user arrives Reference position, location, according to indoor navigation route, this user is carried out indoor The technological means of navigation, it is possible to achieve without at the indoor any hardware device of indoor deployment, the depth map only obtained by terminal, I.e. can determine that in terminal surrounding environment positions the accurate location of Reference, and and then determining that user arrives this location Behind Reference position, it is achieved provide the user the technique effect of indoor navigation service accurately, optimize existing room Interior airmanship, decrease indoor navigation realizes cost, improves the precision of indoor navigation.

On the basis of the various embodiments described above, leading to the indoor that at least two width depth maps described in major general and user input Before boat terminal is sent to server, it is also possible to including:

Obtaining the coarse localization result of described terminal, wherein, described coarse localization result includes architecture result, and/ Or Wireless Fidelity positioning result；

Indoor navigation terminal at least two width depth maps described in major general and user's input is sent to server and can wrap Include: described at least two width depth maps, the indoor navigation terminal of user's input and described coarse localization result are sent to described Server.

It is understood that when terminal use is in indoor environment, it is impossible to positioned accurately by GPS, but, The multiple base station signals that can be obtained by terminal scanning or the watt level of Wireless Fidelity signal, use the side of triangle polyester fibre Formula, it is achieved the coarse localization to described terminal.Accordingly, the positioning result finally obtained by base station signal is commonly referred to as base station Positioning result, the positioning result finally obtained by Wireless Fidelity signal is commonly referred to as Wireless Fidelity positioning result.

Although the positioning precision ratio of architecture result or Wireless Fidelity positioning result is relatively low, but can be used for right The general location of user positions, and such as, determines that user is positioned at A point by architecture, and the precision of this architecture is partly Footpath is R, therefore, it can determine that roughly this user is positioned at A as the center of circle, in R is the region, location of radius.

The benefit so arranged is: server is after obtaining architecture result or Wireless Fidelity positioning result, permissible The depth map that diagram data fully in indoor map storehouse sends with terminal need not be mated, only by this region, location Map datum carry out mating with this depth map, greatly reduce the amount of calculation of server, and location Reference The acquisition time, improve the efficiency of indoor navigation.

Embodiment two

The schematic flow sheet of a kind of indoor navigation method that Fig. 2 provides for the embodiment of the present invention two.The present embodiment is with above-mentioned Embody based on embodiment, in the present embodiment, will determine that described terminal use arrives described location Reference institute In position particularly as follows: when any one determines that the cycle arrives, obtain the depth of field that described terminal generates under preview state of taking pictures Figure, and identify depth of view information corresponding with described location Reference in described real time field depth figure；According in described depth map with The depth of view information that described location Reference is corresponding, determines that described location Reference arrives the distance of taking pictures of cam lens, Wherein, described depth of view information includes the range information between subject and described cam lens；Take pictures described in if away from From less than setting threshold value thresholding, it is determined that described terminal use arrives Reference position, described location.Accordingly, this reality The method executing example specifically includes:

210, the indoor navigation request initiated according to terminal use, obtains terminal and generates at least under preview state of taking pictures Two width depth maps, wherein, include overlapping region in adjacent two width depth maps, the request of described indoor navigation at least includes described end The indoor navigation terminal of end subscriber input.

220, the indoor navigation terminal inputted at least two width depth maps described in major general and described terminal use is sent to Server, described at least two width depth maps are used for determining location Reference, and described location Reference is used for and described indoor Navigation terminal determines indoor navigation route together.

230, the positioning associated information and the described indoor that receive the described location Reference that described server returns are led Air route line, the positioning associated information of described location Reference is used for instructing terminal use to identify described location Reference.

240, judge whether that arriving one determines the cycle, if so, perform 250；Otherwise, execution 240 is returned.

In the present embodiment, one can be set and determine the cycle (such as, 1s, 2s or 5s etc.), determine whenever arriving this The time of cycle set, the depth map that described terminal generates under preview state of taking pictures can be obtained, to terminal use and this location Relative distance between Reference carries out real-time judge.

250, obtain the depth map that described terminal generates under preview state of taking pictures, and identify in described real time field depth figure with The depth of view information that described location Reference is corresponding.

In the present embodiment, after terminal obtains the positioning associated information of location Reference, and then can determine that this is fixed The profile information of position Reference.

Therefore, in the real time field depth figure that this terminal can generate easily under preview state of taking pictures, this is identified fixed Position Reference.

260, according to depth of view information corresponding with described location Reference in described depth map, the reference of described location is determined Object arrives the distance of taking pictures of cam lens.

After identifying the location Reference that depth map includes, and then can be according to this location Reference in the depth of field Depth of view information in figure, determines that location Reference arrives the distance of taking pictures of cam lens.Wherein, described depth of view information is wrapped Include the range information between subject and described cam lens.

Whether distance of 270, taking pictures described in judgement is less than setting threshold value thresholding: if so, perform 280；Otherwise, execution is returned 240。

When determining that distance of taking pictures, less than the threshold value thresholding set, such as, 0.5m or 1m etc., is judged as this terminal use and arrives Reach Reference position, described location；If it is determined that take pictures, distance is not less than the threshold value thresholding of this setting, then the most really When fixed cycle arrives, reacquire the real time field depth figure that described terminal generates under preview state of taking pictures and distance of taking pictures is sentenced Disconnected.

280, determine that described terminal use arrives Reference position, described location.

290, according to described indoor navigation route, described terminal use is carried out indoor navigation.

The technical scheme of the present embodiment passes through scape corresponding with this location Reference in the depth map that terminal obtains in real time Deeply convince whether breath arrives Reference position, described location and judge described terminal use, can reduce end further The artificial participation of end subscriber, improves the automaticity of embodiment of the present invention method.

Embodiment three

The schematic flow sheet of a kind of indoor navigation method that Fig. 3 provides for the embodiment of the present invention three.The present embodiment is with above-mentioned Embody based on embodiment, in the present embodiment, according to described indoor navigation route, described terminal use will be carried out Indoor navigation is particularly as follows: according to the motion sensor of described terminal built-in, determine moving displacement and the fortune of described terminal use Dynamic direction；With Reference position, described location as starting point, obtain according to described moving displacement and the described direction of motion The precise positioning result of user；According to described precise positioning result and described indoor navigation route, described terminal use is entered Row indoor navigation.Accordingly, the method for the present embodiment specifically includes:

310, the indoor navigation request initiated according to terminal use, obtains terminal and generates at least under preview state of taking pictures Two width depth maps, wherein, include overlapping region in adjacent two width depth maps, the request of described indoor navigation at least includes described end The indoor navigation terminal of end subscriber input.

320, the indoor navigation terminal inputted at least two width depth maps described in major general and described terminal use is sent to Server, described at least two width depth maps are used for determining location Reference, and described location Reference is used for and described indoor Navigation terminal determines indoor navigation route together.

330, the positioning associated information and the described indoor that receive the described location Reference that described server returns are led Air route line, the positioning associated information of described location Reference is used for instructing terminal use to identify described location Reference.

340, judge whether described terminal use arrives Reference position, described location: if so, perform 350；No Then, execution 340 is returned.

350, according to the motion sensor of described terminal built-in, moving displacement and the motion side of described terminal use is determined To.

Wherein, described motion sensor includes: 3-axis acceleration sensor and three-axis gyroscope.

By inertial navigation theory: by above-mentioned 6DOF sensor, after the location starting point determining user, The data that can gather according to the sensor in real time, obtain user relative to the moving displacement of this location starting point and motion side To.

360, with Reference position, described location as starting point, according to described moving displacement and the described direction of motion Obtain the precise positioning result of user.

It is understood that this Reference position, location is one and positions start position, accordingly, base accurately In this starting point and described moving displacement and the described direction of motion, it may be determined that this terminal use essence on each time point Quasi-positioning result.

370, according to described precise positioning result and described indoor navigation route, described terminal use is carried out indoor and leads Boat.

According to this precise positioning as a result, it is possible to perform in real time terminal use is carried out navigation hint, update indoor navigation road The operations such as line or end navigation, it is achieved the indoor navigation to this terminal use.

After terminal use is directed to the location starting point of a known elaborate position by the technical scheme of the present embodiment, by used Property navigation principle, can carry out indoor navigation accurately, improve the precision of indoor navigation this terminal use.

On the basis of the various embodiments described above, according to described precise positioning result and described indoor navigation route to described Terminal use carries out indoor navigation and may include that

Sending described precise positioning result to described server, described precise positioning result is used for determining that three-dimensional scenic is believed Breath；Receive the three-dimensional scene information that described server returns, and by described three-dimensional scene information at the navigation interface of described terminal In show.

In this optional embodiment, prestore the three-dimensional scene information of indoor at server, determining that user's is accurate After positioning result, the three-dimensional scene information corresponding with this precise positioning result is supplied to terminal carry out three-dimensional navigation show, With the strengthening navigation hint to terminal use further, it is possible to be greatly improved terminal use user during indoor navigation Experience.

Embodiment four

The flow chart of a kind of indoor navigation method that Fig. 4 provides for the embodiment of the present invention four, the method can be led by indoor Boat device performs, and wherein this device can be realized by software and/or hardware, typically can be integrated in the clothes prestoring indoor navigation map In business device, with carry out the terminal of indoor navigation with the use of.As shown in Figure 4, the method for the present embodiment specifically includes:

410, at least two width depth maps and the indoor navigation terminal that terminal sends, wherein, adjacent two width scapes are at least received Deep figure includes overlapping region.

420, according to described at least two width depth maps and the indoor map storehouse that prestores, determine corresponding with described depth map Location Reference, and determine the position at Reference place, described location.

Wherein, described location Reference specifically refers to the subject matched in depth map with indoor map storehouse Body.

430, the positioning associated information of described location Reference is obtained, and according to the position at Reference place, described location Put and described indoor navigation terminal determines that indoor navigation route, the positioning associated information of described location Reference are used for instructing The user of described terminal identifies described location Reference.

The positioning associated information of described location Reference can include following at least one:

Relative distance information between described location Reference and described terminal use, the genus of described location Reference Property describes information and the shape information of described location Reference.

440, positioning associated information and the described indoor navigation route of described location Reference were sent to described end End.

The indoor navigation method that the embodiment of the present invention provides, under jointly the coordinating of terminal and server end, passes through terminal Ask according to Client-initiated indoor navigation, obtain at least two width depth maps that terminal generates under preview state of taking pictures, at least The indoor navigation terminal that at least two width depth maps and user input is sent to server, and server determines and depth map phase The location Reference joined, and returned to this end by location Reference and the indoor navigation route that determines of indoor navigation terminal End；When terminal determines that user arrives Reference position, location, according to indoor navigation route, this user is carried out indoor The technological means of navigation, it is possible to achieve without at the indoor any hardware device of indoor deployment, the depth map only obtained by terminal, I.e. can determine that in terminal surrounding environment positions the accurate location of Reference, and and then determining that user arrives this location Behind Reference position, it is achieved provide the user the technique effect of indoor navigation service accurately, optimize existing room Interior airmanship, decrease indoor navigation realizes cost, improves the precision of indoor navigation.

Embodiment five

The schematic flow sheet of a kind of indoor navigation method that Fig. 5 provides for the embodiment of the present invention five.The present embodiment is with above-mentioned Embody based on embodiment, in the present embodiment, by according to described at least two width depth maps and the indoor ground that prestores Picture library, obtain the location Reference corresponding with described depth map particularly as follows: according to set machine vision algorithm, to described at least Two width depth maps carry out fusion treatment, generate two-dimensional scene information；According to setting image matching algorithm, described two-dimensional scene is believed Breath mates with the standard scene in the indoor map storehouse prestored；If successful match goes out standard scene, then described at least Two width depth maps are chosen a depth map, as the target depth map identifying location Reference；According to the mark that the match is successful Quasi-scene, identifies described location Reference in described target depth map.

Accordingly, the method for the present embodiment includes:

510, at least two width depth maps and the indoor navigation terminal that terminal sends, wherein, adjacent two width scapes are at least received Deep figure includes overlapping region.

520, according to setting machine vision algorithm, described at least two width depth maps are carried out fusion treatment, generate two dimensional field Scape information.

In the present embodiment, described setting machine vision algorithm may include that IPC (Iterative Closest Point, iterative closest point) algorithm or RANSAC (RANdomSAmple Consensus, stochastic sampling is consistent) algorithm etc..

Wherein, at least two width depth maps are owing to including depth of view information, so corresponding three-dimensional scene graph.In order to improve follow-up with The precision of indoor map storehouse coupling, can first pass through machine vision algorithm and above-mentioned three-dimensional scene is converted to two-dimensional scene Information.Typically, described two-dimensional scene information is the top view of this three-dimensional scene, front view and side view etc..

530, according to setting image matching algorithm, by described two-dimensional scene information and the standard in the indoor map storehouse prestored Scene is mated.

Wherein, described setting image matching algorithm may include that SURF (Speed-up robust features, acceleration Robust features) algorithm.

540, judge whether that successful match goes out standard scene, if so, perform 550；Otherwise, 560 are performed.

550, in described at least two width depth maps, a depth map is chosen, as the target scape identifying location Reference Deep figure, performs 570.

In the present embodiment, can obtain at random described in arbitrary one secondary depth map at least two width depth maps as described Target depth map, it is also possible to sequentially in time, using the first width depth map in described at least two width depth maps as described mesh Mark depth map, this is not limited by the present embodiment.

560, the information that it fails to match is returned to described terminal, terminate flow process.

570, according to the standard scene that the match is successful, described target depth map identifies described location Reference.

Wherein it is possible to first identify in target depth map that each shoots object, object middle-range will be shot afterwards from terminal The shooting object that user is nearest, or shoot object as institute using one that shooting object occupies depth map maximum area State location Reference.

580, the positioning associated information of described location Reference is obtained, and according to the position at Reference place, described location Put and described indoor navigation terminal determines that indoor navigation route, the positioning associated information of described location Reference are used for instructing The user of described terminal identifies described location Reference.

590, positioning associated information and the described indoor navigation route of described location Reference were sent to described end End.

The technical scheme of the present embodiment is by according to setting machine vision algorithm, melting described at least two width depth maps Conjunction processes, and generates two-dimensional scene information, according to setting image matching algorithm, by described two-dimensional scene information and the indoor ground prestored Standard scene in picture library is mated, and according to the standard scene that the match is successful, identifies location ginseng in described target depth map Examine the technological means of object, can simply, identify, in the indoor map storehouse prestored, the location mated with depth map efficiently Reference.

On the basis of the various embodiments described above, at least two width depth maps and the indoor navigation that at least receive terminal transmission are whole Point may include that

Receive at least two width depth maps of terminal transmission, the indoor navigation terminal of terminal use's input and described terminal Coarse localization result, wherein, described coarse localization result includes architecture result, and/or Wireless Fidelity positioning result；

According to setting image matching algorithm, by described two-dimensional scene information and the standard scene in the indoor map storehouse prestored Carry out coupling to may include that according to described coarse localization result, determine lookup region；In described indoor map storehouse, search with Standard scene that described lookup region is corresponding as the first standard scene collection；According to setting image matching algorithm, by described two The standard scene that dimension scene information is concentrated with described first standard scene is mated.

The benefit so arranged is: server is after obtaining architecture result, it may not be necessary to by indoor map storehouse The depth map that diagram data sends with terminal fully mates, only by the map datum in this region, location and this depth map Carry out mating, greatly reduce the amount of calculation of server, and the acquisition time of location Reference, improve indoor and lead The efficiency of boat.

On the basis of the various embodiments described above, by the positioning associated information of described location Reference and described indoor Navigation way sends after described terminal, it is also possible to including:

Receive the precise positioning result that described terminal sends；Search the three-dimensional scenic letter corresponding with described precise positioning result Breath, and described three-dimensional scene information is sent to described terminal.

The benefit so arranged is: prestore the three-dimensional scene information of indoor at server, is determining that user's is the most fixed Position result after, the three-dimensional scene information corresponding with this precise positioning result is supplied to terminal carry out three-dimensional navigation show, with The strengthening navigation hint to terminal use further, to be greatly improved terminal use's Consumer's Experience during indoor navigation.

Embodiment six

The structure chart of a kind of indoor navigation device that Fig. 6 provides for the embodiment of the present invention six, is configured at terminal.Such as Fig. 6 institute Showing, described device includes: depth map acquisition module 610, depth map sending module 620, navigation information receiver module 630 and room Interior navigation module 640, wherein:

Depth map acquisition module 610, for according to terminal use initiate indoor navigation request, obtain terminal take pictures pre- Look at least two width depth maps generated under state, wherein, adjacent two width depth maps include overlapping region, described indoor navigation Request at least includes the indoor navigation terminal that described terminal use inputs.

Depth map sending module 620, for input at least two width depth maps described in major general and described terminal use Indoor navigation terminal is sent to server, and described at least two width depth maps are used for determining location Reference, the reference of described location Object is for determining indoor navigation route together with described indoor navigation terminal.

Navigation information receiver module 630, closes for receiving the location of the described location Reference that described server returns Connection information and described indoor navigation route, the positioning associated information of described location Reference is used for instructing terminal use to identify Described location Reference.

Indoor navigation module 640, is used for when determining that described terminal use arrives described Reference position, location, According to described indoor navigation route, described terminal use is carried out indoor navigation.

The indoor navigation device that the embodiment of the present invention provides, under jointly the coordinating of terminal and server end, passes through terminal Ask according to Client-initiated indoor navigation, obtain at least two width depth maps that terminal generates under preview state of taking pictures, at least The indoor navigation terminal that at least two width depth maps and user input is sent to server, and server determines and depth map phase The location Reference joined, and returned to this end by location Reference and the indoor navigation route that determines of indoor navigation terminal End；When terminal determines that user arrives Reference position, location, according to indoor navigation route, this user is carried out indoor The technological means of navigation, it is possible to achieve without at the indoor any hardware device of indoor deployment, the depth map only obtained by terminal, I.e. can determine that in terminal surrounding environment positions the accurate location of Reference, and and then determining that user arrives this location Behind Reference position, it is achieved provide the user the technique effect of indoor navigation service accurately, optimize existing room Interior airmanship, decrease indoor navigation realizes cost, improves the precision of indoor navigation.

Embodiment seven

The structure chart of a kind of indoor navigation device that Fig. 7 provides for the embodiment of the present invention seven.The present embodiment is with above-mentioned enforcement Embody based on example.

In the present embodiment, described depth map acquisition module, may be used for:

The indoor navigation request initiated according to terminal use, opens the dual camera of described terminal；By described double shootings Head is carried out taking pictures preview, to obtain the first depth map；Point out described terminal use that described terminal is carried out the rotation of shooting angle； After described terminal use completes the rotation of shooting angle, carry out taking pictures preview again by described dual camera, to obtain Two depth maps.

In the present embodiment, the positioning associated information of described location Reference can include following at least one:

Relative distance information between described location Reference and described terminal use, the genus of described location Reference Property describes information and the shape information of described location Reference.

In the present embodiment, it is also possible to include, coarse localization result acquisition module 650, may be used for:

Before the indoor navigation terminal inputted at least two width depth maps described in major general and user is sent to server, Obtaining the coarse localization result of described terminal, wherein, described coarse localization result includes architecture result, and/or wireless guarantor True positioning result；

Described depth map sending module, specifically may be used for:

Described at least two width depth maps, the indoor navigation terminal of user's input and described coarse localization result are sent extremely Described server, described coarse localization result is for quickly determining described location Reference.

In the present embodiment, described indoor navigation module, specifically may be used for: when any one determines that the cycle arrives,

Obtain the depth map that described terminal generates under preview state of taking pictures, and identify in described depth map with described location The depth of view information that Reference is corresponding；

According to depth of view information corresponding with described location Reference in described depth map, determine described location Reference Arriving the distance of taking pictures of cam lens, wherein, described depth of view information includes between subject and described cam lens Range information；

If distance of taking pictures described in is less than setting threshold value thresholding, it is determined that described terminal use arrives described location reference substance Body position.

In the present embodiment, described indoor navigation module, specifically may include that

Kinestate determines unit 641, for the motion sensor according to described terminal built-in, determines described terminal use Moving displacement and the direction of motion；

Precise positioning result acquiring unit 642, for Reference position, described location as starting point, according to described Moving displacement and the described direction of motion obtain the precise positioning result of user；

Terminal guidance unit 643, for according to described precise positioning result and described indoor navigation route, to described end End subscriber carries out indoor navigation.

In the present embodiment, described motion sensor may include that 3-axis acceleration sensor and three-axis gyroscope.

In the present embodiment, described terminal guidance unit, specifically may be used for:

Sending described precise positioning result to described server, described precise positioning result is used for determining that three-dimensional scenic is believed Breath；

Receive the three-dimensional scene information that described server returns, and by described three-dimensional scene information in the navigation of described terminal Interface shows.

The product of above-described embodiment six and embodiment seven can perform what the embodiment of the present invention one to embodiment three was provided Method, possesses the corresponding functional module of execution method and beneficial effect.

Embodiment eight

The structure chart of a kind of indoor navigation device that Fig. 8 provides for the embodiment of the present invention eight, is configured at server end.Such as figure Shown in 8, described device includes: navigational reference data obtaining module 810, location Reference acquisition module 820, indoor navigation road Line determines module 830 and navigation information sending module 840.

Navigational reference data obtaining module 810, at least receiving at least two width depth map and the indoor that terminal sends Navigation terminal, wherein, includes overlapping region in adjacent two width depth maps.

Location Reference acquisition module 820, for according to described at least two width depth maps and the indoor map that prestores Storehouse, obtains the location Reference corresponding with described depth map, and determines the position at Reference place, described location.

Indoor navigation route determination module 830, for obtaining the positioning associated information of described location Reference, and according to The position at Reference place, described location and described indoor navigation terminal determine indoor navigation route, described location reference substance The positioning associated information of body is for instructing the user of described terminal to identify described location Reference.

Navigation information sending module 840, for by the positioning associated information of described location Reference and described indoor Navigation way sends to described terminal.

The indoor navigation device that the embodiment of the present invention provides, under jointly the coordinating of terminal and server end, passes through terminal Ask according to Client-initiated indoor navigation, obtain at least two width depth maps that terminal generates under preview state of taking pictures, at least The indoor navigation terminal that at least two width depth maps and user input is sent to server, and server determines and depth map phase The location Reference joined, and returned to this end by location Reference and the indoor navigation route that determines of indoor navigation terminal End；When terminal determines that user arrives Reference position, location, according to indoor navigation route, this user is carried out indoor The technological means of navigation, it is possible to achieve without at the indoor any hardware device of indoor deployment, the depth map only obtained by terminal, I.e. can determine that in terminal surrounding environment positions the accurate location of Reference, and and then determining that user arrives this location Behind Reference position, it is achieved provide the user the technique effect of indoor navigation service accurately, optimize existing room Interior airmanship, decrease indoor navigation realizes cost, improves the precision of indoor navigation.

Embodiment nine

The structure chart of a kind of indoor navigation device that Fig. 9 provides for the embodiment of the present invention nine.The present embodiment is with above-mentioned enforcement Embody based on example.

In the present embodiment, described location Reference acquisition module, may include that

Two-dimensional scene information generating unit 821, for according to setting machine vision algorithm, to described at least two width depth maps Carry out fusion treatment, generate two-dimensional scene information；

Standard scene matching unit 822, for according to set image matching algorithm, by described two-dimensional scene information with prestore Indoor map storehouse in standard scene mate；

Target depth map chooses unit 823, if going out standard scene, then in the described at least two width depth of field for successful match Figure is chosen a depth map, as the target depth map identifying location Reference；

Location Reference recognition unit 824, for according to the standard scene that the match is successful, in described target depth map Identify described location Reference.

In the present embodiment, described navigational reference data obtaining module, specifically may be used for:

Receive at least two width depth maps of terminal transmission, the indoor navigation terminal of terminal use's input and described terminal Coarse localization result, wherein, described coarse localization result includes architecture result, and/or Wireless Fidelity positioning result；

Described standard scene matching unit, specifically for:

According to described coarse localization result, determine lookup region；

In described indoor map storehouse, search the standard scene corresponding with described lookup region and as the first standard scene Collection；

According to setting image matching algorithm, the pattern field that described two-dimensional scene information is concentrated with described first standard scene Scape mates.

In the present embodiment, it is also possible to include, three-dimensional scene information sending module 850, may be used for:

Positioning associated information and the described indoor navigation route of described location Reference are being sent to described terminal Afterwards, the precise positioning result that described terminal sends is received；

Search the three-dimensional scene information corresponding with described precise positioning result, and described three-dimensional scene information is sent to institute State terminal.

The product of above-described embodiment eight and embodiment nine can perform what the embodiment of the present invention four to embodiment five was provided Method, possesses the corresponding functional module of execution method and beneficial effect.

Note, above are only presently preferred embodiments of the present invention and institute's application technology principle.It will be appreciated by those skilled in the art that The invention is not restricted to specific embodiment described here, can carry out for a person skilled in the art various obvious change, Readjust and substitute without departing from protection scope of the present invention.Therefore, although by above example, the present invention is carried out It is described in further detail, but the present invention is not limited only to above example, without departing from the inventive concept, also Other Equivalent embodiments more can be included, and the scope of the present invention is determined by scope of the appended claims.

Claims (20)

1. an indoor navigation method, it is characterised in that including:

The indoor navigation request initiated according to terminal use, obtains at least two width depth of field that terminal generates under preview state of taking pictures Figure, wherein, includes overlapping region in adjacent two width depth maps, the request of described indoor navigation at least includes that described terminal use is defeated The indoor navigation terminal entered；

It is sent to server, the described at least two width depth of field at least two width depth maps described in major general and described indoor navigation terminal Figure is used for determining location Reference, and described location Reference is for determining indoor navigation together with described indoor navigation terminal Route；

Receive positioning associated information and described indoor navigation route, the institute of the described location Reference that described server returns State the positioning associated information of location Reference for instructing terminal use to identify described location Reference；

When determining that described terminal use arrives described Reference position, location, according to described indoor navigation route to institute State terminal use and carry out indoor navigation.

Method the most according to claim 1, it is characterised in that the indoor navigation request initiated according to terminal use, obtains At least two width depth maps that terminal generates under preview state of taking pictures include:

The indoor navigation request initiated according to terminal use, opens the dual camera of described terminal；

Carried out taking pictures preview by described dual camera, to obtain the first depth map；

Point out described terminal use that described terminal is carried out the rotation of shooting angle；

After described terminal use completes the rotation of shooting angle, carry out taking pictures preview again by described dual camera, to obtain Take the second depth map.

Method the most according to claim 1, it is characterised in that under the positioning associated information of described location Reference includes State at least one:

Relative distance information between described location Reference and described terminal use, the attribute of described location Reference are retouched State information and the shape information of described location Reference.

Method the most according to claim 1, it is characterised in that defeated at least two width depth maps and user described in major general Before the indoor navigation terminal entered is sent to server, also include:

Obtaining the coarse localization result of described terminal, wherein, described coarse localization result includes architecture result, and/or nothing Line fidelity positioning result；

Indoor navigation terminal at least two width depth maps described in major general and user's input is sent to server and includes:

Described at least two width depth maps, the indoor navigation terminal of user's input and described coarse localization result are sent to described Server, described coarse localization result is for quickly determining described location Reference.

Method the most according to claim 1, it is characterised in that determine that described terminal use arrives described location Reference Position includes: when any one determines that the cycle arrives,

Obtain the depth map that described terminal generates under preview state of taking pictures, and identify in described depth map with the reference of described location The depth of view information that object is corresponding；

According to depth of view information corresponding with described location Reference in described depth map, determine that described location Reference arrives The distance of taking pictures of cam lens, wherein, described depth of view information include between subject and described cam lens away from From information；

If distance of taking pictures described in is less than setting threshold value thresholding, it is determined that described terminal use arrives described location Reference institute In position.

Method the most according to claim 1, it is characterised in that described terminal use is entered according to described indoor navigation route Row indoor navigation includes:

According to the motion sensor of described terminal built-in, determine moving displacement and the direction of motion of described terminal use；

With Reference position, described location as starting point, obtain user according to described moving displacement and the described direction of motion Precise positioning result；

According to described precise positioning result and described indoor navigation route, described terminal use is carried out indoor navigation.

Method the most according to claim 6, it is characterised in that described motion sensor includes: 3-axis acceleration sensor And three-axis gyroscope.

Method the most according to claim 6, it is characterised in that according to described precise positioning result and described indoor navigation Route carries out indoor navigation to described terminal use and includes:

Sending described precise positioning result to described server, described precise positioning result is used for determining three-dimensional scene information；

Receive the three-dimensional scene information that described server returns, and by described three-dimensional scene information at the navigation interface of described terminal In show.

9. an indoor navigation method, it is characterised in that including:

At least receive at least two width depth maps and indoor navigation terminal that terminal sends, wherein, adjacent two width depth maps wrap Include overlapping region；

According to described at least two width depth maps and the indoor map storehouse that prestores, determine the location reference corresponding with described depth map Object, and determine the position at Reference place, described location；

Obtain the positioning associated information of described location Reference, and according to the position at Reference place, described location and institute State indoor navigation terminal and determine that indoor navigation route, the positioning associated information of described location Reference are used for instructing described terminal User identify described location Reference；

Positioning associated information and the described indoor navigation route of described location Reference are sent to described terminal.

Method the most according to claim 9, it is characterised in that according to described at least two width depth maps and the room that prestores Interior map office, obtains the location Reference corresponding with described depth map and includes:

According to setting machine vision algorithm, described at least two width depth maps are carried out fusion treatment, generate two-dimensional scene information；

According to setting image matching algorithm, described two-dimensional scene information is carried out with the standard scene in the indoor map storehouse prestored Coupling；

If successful match goes out standard scene, then in described at least two width depth maps, choose a depth map, fixed as identifying The target depth map of position Reference；

According to the standard scene that the match is successful, described target depth map identifies described location Reference.

11. methods according to claim 10, it is characterised in that at least receive terminal send at least two width depth maps with And indoor navigation terminal includes:

Receive the rough of at least two width depth maps of terminal transmission, the indoor navigation terminal of terminal use's input and described terminal Positioning result, wherein, described coarse localization result includes architecture result, and/or Wireless Fidelity positioning result；

According to setting image matching algorithm, described two-dimensional scene information is carried out with the standard scene in the indoor map storehouse prestored Coupling includes:

According to described coarse localization result, determine lookup region；

In described indoor map storehouse, search the standard scene corresponding with described lookup region and as the first standard scene collection；

According to setting image matching algorithm, described two-dimensional scene information is entered with the standard scene that described first standard scene is concentrated Row coupling.

12. according to the method described in any one of claim 9-11, it is characterised in that in the location by described location Reference Related information and described indoor navigation route send after described terminal, also include:

Receive the precise positioning result that described terminal sends；

Search the three-dimensional scene information corresponding with described precise positioning result, and described three-dimensional scene information was sent to described end End.

13. 1 kinds of indoor navigation devices, are configured at terminal, it is characterised in that including:

Depth map acquisition module, for the indoor navigation request initiated according to terminal use, obtains terminal in preview state of taking pictures At least two width depth maps of lower generation, wherein, include overlapping region in adjacent two width depth maps, described indoor navigation is asked extremely Include the indoor navigation terminal that described terminal use inputs less；

Depth map sending module, for the indoor navigation inputted at least two width depth maps described in major general and described terminal use Terminal is sent to server, and described at least two width depth maps are used for determining that location Reference, described location Reference are used for Indoor navigation route is determined together with described indoor navigation terminal；

Navigation information receiver module, for receive described server return described location Reference positioning associated information with And described indoor navigation route, the positioning associated information of described location Reference is used for instructing terminal use to identify described location Reference；

Indoor navigation module, for when determining that described terminal use arrives described Reference position, location, according to institute State indoor navigation route and described terminal use is carried out indoor navigation.

14. devices according to claim 13, it is characterised in that the positioning associated information of described location Reference includes Following at least one:

Relative distance information between described location Reference and described terminal use, the attribute of described location Reference are retouched State information and the shape information of described location Reference.

15. devices according to claim 13, it is characterised in that also include, coarse localization result acquisition module, it is used for:

Before the indoor navigation terminal inputted at least two width depth maps described in major general and user is sent to server, obtain The coarse localization result of described terminal, wherein, described coarse localization result includes architecture result, and/or Wireless Fidelity is fixed Position result；

Described depth map sending module, specifically for:

Described at least two width depth maps, the indoor navigation terminal of user's input and described coarse localization result are sent to described Server, described coarse localization result is for quickly determining described location Reference.

16. devices according to claim 13, it is characterised in that described indoor navigation module, specifically for: any one Individual determine when the cycle arrives,

Obtain the depth map that described terminal generates under preview state of taking pictures, and identify in described depth map with the reference of described location The depth of view information that object is corresponding；

According to depth of view information corresponding with described location Reference in described depth map, determine that described location Reference arrives The distance of taking pictures of cam lens, wherein, described depth of view information include between subject and described cam lens away from From information；

If distance of taking pictures described in is less than setting threshold value thresholding, it is determined that described terminal use arrives described location Reference institute In position.

17. devices according to claim 13, it is characterised in that described indoor navigation module, specifically include:

Kinestate determines unit, for the motion sensor according to described terminal built-in, determines the motion of described terminal use Displacement and the direction of motion；

Precise positioning result acquiring unit, for Reference position, described location as starting point, according to described motion bit Move and the precise positioning result of described direction of motion acquisition user；

Terminal guidance unit, for according to described precise positioning result and described indoor navigation route, to described terminal use Carry out indoor navigation.

18. 1 kinds of indoor navigation devices, are configured at server end, it is characterised in that including:

Navigational reference data obtaining module, whole at least two width depth maps and indoor navigation at least receiving terminal transmission Point, wherein, includes overlapping region in adjacent two width depth maps；

Location Reference acquisition module, for according to described at least two width depth maps and the indoor map storehouse that prestores, determining The location Reference corresponding with described depth map, and determine the position at Reference place, described location；

Indoor navigation route determination module, for obtaining the positioning associated information of described location Reference, and according to described fixed Position and the described indoor navigation terminal at Reference place, position determine indoor navigation route, determining of described location Reference Position related information is for instructing the user of described terminal to identify described location Reference；

Navigation information sending module, for by the positioning associated information of described location Reference and described indoor navigation route Send to described terminal.

19. devices according to claim 18, it is characterised in that described location Reference acquisition module, including:

Two-dimensional scene information generating unit, for according to setting machine vision algorithm, melting described at least two width depth maps Conjunction processes, and generates two-dimensional scene information；

Standard scene matching unit, for according to setting image matching algorithm, by described two-dimensional scene information and the indoor prestored Standard scene in map office is mated；

Target depth map chooses unit, if going out standard scene for successful match, then selects in described at least two width depth maps Take a depth map, as the target depth map identifying location Reference；

Location Reference recognition unit, for according to the standard scene that the match is successful, identifies institute in described target depth map State location Reference.

20. devices according to claim 19, it is characterised in that described navigational reference data obtaining module, specifically for:

Receive the rough of at least two width depth maps of terminal transmission, the indoor navigation terminal of terminal use's input and described terminal Positioning result, wherein, described coarse localization result includes architecture result, and/or Wireless Fidelity positioning result；

Described standard scene matching unit, specifically for:

According to described coarse localization result, determine lookup region；

In described indoor map storehouse, search the standard scene corresponding with described lookup region and as the first standard scene collection；

According to setting image matching algorithm, described two-dimensional scene information is entered with the standard scene that described first standard scene is concentrated Row coupling.