CN102243078A - Release-upon-vision navigation device and realization method thereof - Google Patents
Release-upon-vision navigation device and realization method thereof Download PDFInfo
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- CN102243078A CN102243078A CN2010101733181A CN201010173318A CN102243078A CN 102243078 A CN102243078 A CN 102243078A CN 2010101733181 A CN2010101733181 A CN 2010101733181A CN 201010173318 A CN201010173318 A CN 201010173318A CN 102243078 A CN102243078 A CN 102243078A
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Abstract
The invention provides a release-upon-vision navigation device and a realization method thereof, and belongs to the technical field of navigation. The navigation device comprises a navigation device body, an image pick-up device, a pick-up object positioning module, a navigation data positioning module, a pick-up object and navigation data corresponding module, a pick-up object and navigation data combination module and a combination data output module, wherein image pick-up device is used for shooting a real image of a front vehicle; the pick-up object positioning module is used for positioning the shot image; the navigation data positioning module is used for positioning according to positioning data of the shot image; the pick-up object and navigation data corresponding module is used for comparing positioned data with data content in a navigator; the pick-up object and navigation data combination module is used for overlapping and combining data in a part which the data can be coincided; and the combination data output module is used for outputting combined data to associated display equipment. Compared with various widely-used navigation devices, the navigation device combines map information of an area where a user is located with the real scene of the area for display and further enhances sense of reality of a navigation process.
Description
Technical field
The present invention relates to field of navigation technology, relate in particular to a kind of institute and look i.e. type guider and the implementation method released.
Background technology
Current navigation type product is widely used in the various vehicles.Such as, be provided with navigating instrument in the various vehicles at present mostly, in navigating instrument, set in advance the map that needs inquiry, perhaps obtain map datum by online transmission manner, these data can effectively be transferred in the navigating instrument and show.On the other hand, in navigating instrument, also be provided with locating device usually.Locating device commonly used at present, mainly include two kinds: a kind of is to utilize the mode of satnav to navigate, the benefit of this locator meams is that data are accurate, the location is rapid; Second kind is to utilize the mode of wireless network to position, as long as the benefit of this locator meams is to have mobile phone just can position easily, shortcoming is that accuracy is low slightly.
Present widely used various navigation products, usually all be provided with display screen, and supporting loudspeaker is used as output unit, with the measured locating information of locating device, and the departure place that the user imported and destination be as input information, and these information contents allow the user can obtain the message form that is associated with the path easily.The employed way of output based on display screen, can show two parts information usually in display screen, a part is user's pairing map in region that advances, and another part is the employed vehicles of user pairing positions in map.For example, Chinese patent (application number CN200620015503) has proposed a kind of guider that makes full use of display screen, include navigating instrument control and treatment apparatus and display screen, menu and function key display control module and command key have been increased, also be provided with timer clock in this control module simultaneously, has timing function, this device makes being presented at when navigating of information such as its menu, function key to hide automatically, do not take display screen, thereby make the area that is used for navigation map, road demonstration increase.
Present airmanship is merely able to simple cartographic information is shown, though, can indicate the zone at user place, but can't show the real scene of region, the navigation procedure that this method is carried out, the user lacks the sense of reality, also is difficult to obtain more substantial information, and this airmanship then is present widely used airmanship type.Chinese patent (application number CN200810186266) has proposed a kind of DVD of utilization navigating instrument image display device of moveing backward, has the DVD navigating instrument, join by video signal cable between DVD navigating instrument and the reversing camera, the DVD navigating instrument also joins through signal wire and automotive reverse gear switch, can realize effectively, accurately that the reversing image shows in good time.
In view of the above-mentioned state of the art, the present invention proposes and a kind ofly shoot with video-corder real scene image by camera head, and the airmanship that this real scene image and navigation map are merged mutually.
Summary of the invention
The purpose of this invention is to provide a kind of institute and look i.e. type guider and its implementation released, can be with the real scene recorded and the direct mutual superposition of content information of navigation, the very strong navigation information content of the generation sense of reality.
The type guider of releasing is looked i.e. by a kind of institute, and this device includes:
The guider body, it includes the positioning component that is used for determining the guider position, and corresponding positional information provides the image-guidance data module of navigation map information;
Camera head, its correspondence aforesaid guider body and are provided with, and are the functional structures that is used to realize that image is to external world taken;
Shooting target localization module, its correspondence the positioning component setting in aforesaid camera head and the guider body, and the picture material that is used for taking is transformed into the locating content of forming by positional information;
The navigation data locating module, it is the navigation picture that is used in the image-guidance data module of aforesaid guider body, is directed to the above-mentioned pairing positional information of shooting target localization module, the modular structure of relevant position, location in navigation data;
Shooting target and navigation data respective modules, it be used for obtained through shooting target localization module to be transformed into the picture material of locating information, with the picture material through the corresponding generation of navigation data locating module institute, both set up the modular structure of incidence relation;
Shooting target and navigation data Fusion Module, it is to be used for corresponding informance that described shooting target and navigation data respective modules are obtained, carries out the modular structure of data fusion between the two;
The fused data output module, it is the data that are used for that aforesaid shooting target and navigation data Fusion Module are obtained are carried out data output by the pairing output unit of guider body a modular structure.
Further, the type guider of releasing is looked i.e. by described institute, also has following technical characterictic:
Described camera head is arranged on the fuselage position of a relative side of navigating instrument display screen.
Described camera head includes the shooting structure of the divergence type that is arranged on the vehicles fuselage.
Described shooting target localization module includes target range finder module and associated objects position computation module, is used for determining the geographic position data of target with respect to navigating instrument.
Corresponding described shooting target localization module is provided with the three-dimensional camera that can embody distance relation, the approach that is used as locating.
Described navigation data locating module includes and is used for navigation data sort module that navigation content is classified, can tell direct correlation navigation data and indirect association navigation data.
Described shooting target and navigation data Fusion Module include the fused data locating module, and this module is used under the data of determining shooting target and navigation data are coincide the situation of amount greater than threshold value, the log-on data mixing operation.
Described fused data output module, corresponding display screen and projector be one at least.
A kind of implementation method of the type guider of releasing of looking i.e., this method includes following steps:
Step 1 utilizes the corresponding guider body of camera head to take external image;
Step 2 is utilized shooting target localization module, comes the content in the captured suddenly image information of previous step is carried out location positioning;
Step 3 is utilized the rapid locating information that obtains of previous step, accesses the navigation data that includes relevant position information, and as the navigation information that can directly be mapped with the rapid captured image of previous step;
Step 4, by shooting target and navigation data respective modules, the navigation information of the correspondence that picture material and step 3 obtained that step 2 obtained this picture material directly is mapped;
Step 5 is utilized shooting target and navigation data Fusion Module, and the data message of rapid two aspects that obtain of previous step is combined, and by the fused data output module content is exported.
Further, the described implementation method of the type guider of releasing of looking i.e. also has following technical characterictic:
In the step 1, the shooting process of described camera head can realize that the interlude frequency can realize by the quick button of interval capture by taking pictures at interval, the quick button correspondence of this interval capture the interval photo opporunity that data analysis is carried out in specific being suitable for, and image definition.
The image that described camera head obtained according to the size of picture size, is told emphasis analysis diagram picture and non-emphasis analysis diagram as two parts, the analysis diagram picture of attaching most importance to that size is big, and what size was little is non-emphasis analysis diagram picture.Described emphasis analysis diagram picture and non-emphasis analysis diagram picture are realized by after the image recognition, by the classification of the pre-defined image of user.Corresponding different region, preestablish emphasis and resolved pairing ground of picture material domain information, when captured pairing ground of the picture material domain information of guider with should predefined emphasis resolve content images database corresponding the time, directly it is carried out the emphasis parsing.
In the step 5, the target image that is obtained is a planar structure, and the content-form of supporting navigation information also is a planar structure, and data fusion is two behaviors that space structure took place.
In the step 5, when carrying out data fusion, the structure that is used for data fusion that each can become independent face has not 3 points on same straight line at least, and its geographic position data fits like a glove.
Advantage of the present invention:
Correspondence of the present invention the guider body, setting is in order to the camera device of the real scene image of shooting vehicle front, utilize shooting target localization module that captured picture material is carried out the distance location, utilize the navigation data locating module to position according to the locator data of captured real scene image geography information to correspondence, data after will locating by shooting target and navigation data respective modules, compare with the data content in the navigating instrument, can realize the part of coincideing in data, directly carry out data stack and fusion by shooting target and navigation data Fusion Module, utilize the data after the fused data output module will merge to export related display device to, the user can obtain to be superimposed with the road navigation of existing navigation content like this.Compare with present widely used various guiders, this guider merges demonstration mutually the cartographic information in the zone at user place or with the real scene of region, has further strengthened the sense of reality of navigation procedure.
Description of drawings
Below in conjunction with accompanying drawing, type guider and its implementation released looked i.e. by institute of the present invention, be described in further detail:
Fig. 1 is the structured flowchart of the type guider of releasing of looking i.e. of the present invention.
Fig. 2 is the process flow diagram of the implementation method of type guider of releasing of looking i.e. of the present invention.
Fig. 3 is that institute's type guider of releasing is looked promptly when carrying out data fusion, an embodiment by institute of the present invention.
Label declaration among the figure:
The type guider-100 of releasing is looked i.e. by institute, guider body-110, positioning component-111, image-guidance data module-112, camera head-120, shooting target localization module-130, target range finder module-131, associated objects position computation module-132, three-dimensional camera-133, navigation data locating module-140, navigation data sort module-141, shooting target and navigation data respective modules-150, shooting target and navigation data Fusion Module-160, fused data locating module-161, fused data output module-170, display screen-171, projector-172.
Embodiment
Of the present inventionly look the technical scheme that i.e. institute's type guider of releasing adopts and be mainly:, the camera device in order to shooting vehicle front image is set in the place ahead of vehicle; Captured picture material is carried out the distance location; Data and the navigation data content in the navigating instrument behind the location are compared, can realize the part of coincideing, directly carry out data and superpose in data.The user can obtain to be superimposed with the road navigation of existing navigation content like this.
At first, the present invention is done an integral body introduction with reference to the structured flowchart of the type guider of releasing of looking i.e. of the present invention shown in Figure 1.
The type guider 100 of releasing is looked i.e. by this institute, include guider body 110, this guider body is provided with positioning component 111 and image-guidance data module 112, wherein, described positioning component 111 is used for determining the position at guider place, and described image-guidance data module 112 correspondences positional information provides navigation map information.
At first, should obtain the true picture of extraneous scene and it is positioned, and navigation data be carried out corresponding location according to the locator data of true picture.To realize that to external world the true picture of scene positions is purpose, and this institute looks promptly the type guider 100 of releasing includes camera head 120, the target localization module 130 of making a video recording; To realize that true picture in conjunction with extraneous scene carries out correspondence to navigation data and orientates purpose as, it is that the type guider 100 of releasing includes navigation data locating module 140 that this institute looks.
Camera head 120 wherein, it is the functional structure that is used to realize that image is to external world taken.This camera head 120 includes the shooting structure of the divergence type that is arranged on vehicles fuselage loam cake, its correspondence aforesaid guider body 110 and is provided with, for example and without limitation, it can be arranged on the fuselage position of a relative side of navigating instrument display screen.
The positioning component 111 that shooting target localization module 130 wherein, its correspondence in aforesaid camera head 120 and the guider body 110 is provided with, and is used for the picture material that aforesaid camera head 120 is taken is transformed into the locating content of forming by positional information.This shooting target localization module 130 includes target range finder module 131 and associated objects position computation module 132, is used for determining the geographic position data of target with respect to navigating instrument.Simultaneously, corresponding should shooting target localization module 130, be provided with the three-dimensional camera 133 that can embody distance relation, the approach that is used as locating.
Navigation data locating module 140 wherein, it is the navigation picture that is used in the image-guidance data module 112 of aforesaid guider body 110, be directed to above-mentioned shooting target localization module 130 pairing positional informations, the modular structure of relevant position, location in navigation data.Described navigation data locating module 140 includes and is used for navigation data sort module 141 that navigation content is classified, can tell direct correlation navigation data and indirect association navigation data.
For the real scene in the external world is merged mutually with navigation map information in the navigating instrument, thereby provide navigation information with strong sense of reality, with realization the locating information of the external image of aforesaid shooting target localization module 130 acquisitions and the navigation map data information of aforesaid navigation data locating module 140 acquisitions are set up corresponding relation and its counterpart is fused to purpose, it is that the type guider 100 of releasing includes shooting target and navigation data respective modules 150 and target and the navigation data Fusion Module 160 of making a video recording that this institute looks.
Shooting target wherein and navigation data respective modules 150, it be used for through aforesaid shooting target localization module 130 obtained to be transformed into the picture material of locating information, with the picture materials through 140 corresponding generations of aforesaid navigation data locating module, both set up the modular structure of incidence relation.
Shooting target wherein and navigation data Fusion Module 160, it is to be used for corresponding informance that described shooting target and navigation data respective modules 150 are obtained, carries out the modular structure of data fusion between the two.It includes fused data locating module 161, in this module, be provided with concrete threshold values, when the data of shooting target and navigation data coincide amount greater than this threshold value the time, will trigger and be arranged on that this institute looks is the relating module log-on data mixing operation in the type guider released.
When utilizing aforesaid shooting target and navigation data Fusion Module 160 to make a video recording after target and navigation data merge, to realize that it is purpose that fused data is exported to the user, it is that the type guider 100 of releasing includes fused data output module 170 that described institute looks.
Fused data output module 170 wherein, it is the data that are used for that aforesaid shooting target and navigation data Fusion Module 160 are obtained are carried out data output by guider body 110 pairing output units a modular structure.These fused data output module 170 correspondences both one and being provided with at least of display screen 171 and projector 172.
In conjunction with the described structured flowchart of Fig. 1, Figure 2 shows that the process flow diagram of the implementation method of type guider of releasing of looking i.e. of the present invention.This implementation method comprises the steps:
Step 1 utilizes camera head 120 corresponding guider bodies 110 to take external image.
In this step, the shooting process of described camera head 120, can realize by taking pictures at interval, the interlude frequency can realize by the quick button of interval capture, the quick button correspondence of this interval capture the interval photo opporunity that data analysis is carried out in specific being suitable for, and image definition.
Further, according to the size of picture size, the image that camera head 120 is obtained is told emphasis analysis diagram picture and non-emphasis analysis diagram as two parts, wherein, the analysis diagram picture of attaching most importance to that size is big, what size was little is non-emphasis analysis diagram picture.Described emphasis analysis diagram picture and non-emphasis analysis diagram picture are realized by after the image recognition, by the classification of the pre-defined image of user.Corresponding different region, preestablish emphasis and resolved pairing ground of picture material domain information, when captured pairing ground of the picture material domain information of guider with should predefined emphasis resolve content images database corresponding the time, directly it is carried out the emphasis parsing.
Step 2 is utilized shooting target localization module 130, comes the content in the captured suddenly image information of previous step is carried out location positioning.
When the content in the captured image information is carried out location positioning, mainly utilize target range finder module 131 and associated objects position computation module 132, determine the geographic position data of target with respect to navigating instrument.Simultaneously, corresponding described shooting target localization module 130 also can be provided with the three-dimensional camera 133 that can embody distance relation, the approach that is used as locating.
Step 3 is utilized the rapid locating information that obtains of previous step, accesses the navigation data that includes relevant position information, and as the navigation information that can directly be mapped with the rapid captured image of previous step.
Utilize navigation data locating module 140,, be directed to above-mentioned shooting target localization module 130 pairing positional informations, in navigation data, locate the relevant position the navigation picture in the image-guidance data module 112 in the guider body 110.
Step 4, by shooting target and navigation data respective modules 150, the navigation information of the correspondence that picture material and step 3 obtained that step 2 obtained this picture material directly is mapped.
Utilize shooting target and navigation data respective modules 150, will through shooting target localization module 130 obtained with the picture material that is transformed into locating information and through navigation data locating module 140 the picture material of correspondence generation, both set up incidence relation.
Step 5 is utilized shooting target and navigation data Fusion Module 160, and the data message of rapid two aspects that obtain of previous step is combined, and by fused data output module 170 content is exported.
Utilize shooting target and navigation data Fusion Module 160, the corresponding informance with make a video recording target and navigation data respective modules 150 are obtained carries out data fusion between the two.For example and without limitation, in this step, the target image that is obtained is a planar structure, and the content-form of supporting navigation information also is a planar structure, and data fusion is two behaviors that space structure took place.When carrying out data fusion, the structure that is used for data fusion that each can become independent face has not 3 points on same straight line at least, and its geographic position data fits like a glove.
Embodiment
Fig. 3 is that institute's type guider of releasing is looked promptly when carrying out data fusion, an embodiment by institute of the present invention.
User A drives toward a desired primary school that is positioned at the mountain area, automobile in the process of moving, utilize camera head to take advancing surrounding environment, analyzing and processing via shooting target localization module obtains, the image of corresponding extraneous outdoor scene is distributed with places such as A, B, C, D, E and F respectively around highway shown in figure (a).
Simultaneously, the navigating instrument that is arranged in the system shows as scheming the cartographic information shown in (b),, shows respectively to be distributed with A on map according to aforesaid locating information to real scene image via the navigation data positioning module
1, B
1, C
1, D
1, E
1And F
1Deng position information.
Make a video recording target and navigation data respective modules of i.e. institute's type guider utilization of releasing looked by this institute will scheme A, B, D, E and F in (a) and the A among the figure (b)
1, B
1, C
1, D
1, E
1And F
1Set up the position corresponding relation, draw A, C, D and A
1, C
1, D
1Identical amount surpassed reservation threshold, then utilize shooting target and navigation data Fusion Module with the real scene image data fusion of A, C, D correspondence to A
1, C
1, D
1Corresponding position is closed and is fastened, thereby sets up as scheme the navigation information that has more the sense of reality that the real scene image shown in (c) and geographical location information merge mutually.
More than be the description of this invention and non-limiting, based on other embodiment of inventive concept, all among protection scope of the present invention.
Claims (15)
1. the type guider of releasing is looked i.e. by an institute, it is characterized in that this device includes:
The guider body, it includes the positioning component that is used for determining the guider position, and corresponding positional information provides the image-guidance data module of navigation map information;
Camera head, its correspondence aforesaid guider body and are provided with, and are the functional structures that is used to realize that image is to external world taken;
Shooting target localization module, its correspondence the positioning component setting in aforesaid camera head and the guider body, and the picture material that is used for taking is transformed into the locating content of forming by positional information;
The navigation data locating module, it is the navigation picture that is used in the image-guidance data module of aforesaid guider body, is directed to the above-mentioned pairing positional information of shooting target localization module, the modular structure of relevant position, location in navigation data;
Shooting target and navigation data respective modules, it be used for obtained through shooting target localization module to be transformed into the picture material of locating information, with the picture material through the corresponding generation of navigation data locating module institute, both set up the modular structure of incidence relation;
Shooting target and navigation data Fusion Module, it is to be used for corresponding informance that described shooting target and navigation data respective modules are obtained, carries out the modular structure of data fusion between the two;
The fused data output module, it is the data that are used for that aforesaid shooting target and navigation data Fusion Module are obtained are carried out data output by the pairing output unit of guider body a modular structure.
2. the type guider of releasing is looked i.e. by institute according to claim 1, it is characterized in that: described camera head is arranged on the fuselage position of a relative side of navigating instrument display screen.
3. the type guider of releasing is looked i.e. by institute according to claim 1, it is characterized in that: described camera head includes the shooting structure of the divergence type that is arranged on the vehicles fuselage.
4. the type guider of releasing is looked i.e. by institute according to claim 1, it is characterized in that: described shooting target localization module, include target range finder module and associated objects position computation module, be used for determining the geographic position data of target with respect to navigating instrument.
5. the type guider of releasing is looked i.e. by institute according to claim 1, it is characterized in that: correspondence described shooting target localization module, be provided with the three-dimensional camera that can embody distance relation, the approach that is used as locating.
6. the type guider of releasing is looked i.e. by institute according to claim 1, it is characterized in that: described navigation data locating module, include and be used for navigation data sort module that navigation content is classified, can tell direct correlation navigation data and indirect association navigation data.
7. the type guider of releasing is looked i.e. by institute according to claim 1, it is characterized in that: described shooting target and navigation data Fusion Module, include the fused data locating module, this module is used under the data of determining shooting target and navigation data are coincide the situation of amount greater than threshold value, the log-on data mixing operation.
8. the type guider of releasing is looked i.e. by institute according to claim 1, it is characterized in that: described fused data output module, correspondence display screen and projector one at least.
9. i.e. implementation method of the type guider of releasing of looking is characterized in that this method includes following steps:
Step 1 utilizes the corresponding guider body of camera head to take external image;
Step 2 is utilized shooting target localization module, comes the content in the captured suddenly image information of previous step is carried out location positioning;
Step 3 is utilized the rapid locating information that obtains of previous step, accesses the navigation data that includes relevant position information, and as the navigation information that can directly be mapped with the rapid captured image of previous step;
Step 4, by shooting target and navigation data respective modules, the navigation information of the correspondence that picture material and step 3 obtained that step 2 obtained this picture material directly is mapped;
Step 5 is utilized shooting target and navigation data Fusion Module, and the data message of rapid two aspects that obtain of previous step is combined, and by the fused data output module content is exported.
10. the implementation method of the type guider of releasing of looking i.e. according to claim 9, it is characterized in that: in the step 1, the shooting process of described camera head, can realize by taking pictures at interval, the interlude frequency can realize by the quick button of interval capture, the quick button correspondence of this interval capture the interval photo opporunity that data analysis is carried out in specific being suitable for, and image definition.
11. the implementation method of the type guider of releasing of looking i.e. according to claim 9, it is characterized in that: the image that described camera head obtained, size according to picture size, tell emphasis analysis diagram picture and non-emphasis analysis diagram as two parts, the analysis diagram picture of attaching most importance to that size is big, what size was little is non-emphasis analysis diagram picture.
12. the implementation method of the type guider of releasing of looking i.e. according to claim 11 is characterized in that: described emphasis analysis diagram picture and non-emphasis analysis diagram picture, realize by after the image recognition, by the classification of the pre-defined image of user.
13. the implementation method of the type guider of releasing of looking i.e. according to claim 11, it is characterized in that: corresponding different region, preestablish emphasis and resolved pairing ground of picture material domain information, when captured pairing ground of the picture material domain information of guider with should predefined emphasis resolve content images database corresponding the time, directly it is carried out the emphasis parsing.
14. the implementation method of the type guider of releasing of looking i.e. according to claim 9, it is characterized in that: in the step 5, the target image that is obtained, it is a planar structure, the content-form of supporting navigation information also is a planar structure, and data fusion is two behaviors that space structure took place.
15. the implementation method of the type guider of releasing of looking i.e. according to claim 9, it is characterized in that: in the step 5, when carrying out data fusion, each can become the structure that is used for data fusion of independent face, have not 3 points on same straight line at least, its geographic position data fits like a glove.
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| CN103913174A (en) * | 2012-12-31 | 2014-07-09 | 深圳先进技术研究院 | Navigation information generation method and system, mobile client and server |
| CN106441343A (en) * | 2016-08-31 | 2017-02-22 | 电子科技大学 | Street view navigation method based on character recognition |
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| CN102243078B (en) | 2016-03-30 |
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