CN102288180B - Real-time image navigation system and method - Google Patents
Real-time image navigation system and method Download PDFInfo
- Publication number
- CN102288180B CN102288180B CN201010202158.9A CN201010202158A CN102288180B CN 102288180 B CN102288180 B CN 102288180B CN 201010202158 A CN201010202158 A CN 201010202158A CN 102288180 B CN102288180 B CN 102288180B
- Authority
- CN
- China
- Prior art keywords
- coordinate
- real
- image
- target location
- current position
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000000034 method Methods 0.000 title claims description 15
- 238000003384 imaging method Methods 0.000 claims description 36
- 238000010586 diagram Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
Landscapes
- Navigation (AREA)
- Instructional Devices (AREA)
Abstract
The invention discloses a real-time image navigation system which comprises an image capturing unit, an image processing unit, a positioning unit and a control unit, wherein the image processing unit displays an image on a display screen in real time; the positioning unit calculates geographic coordinates of the current position according to information provided by an inertial navigation device and receives geographic coordinates of the next target position which is provided by a navigation unit and needs real-time image guide; and the control unit calculates coordinates of a target position in the display screen according to the current position geographic coordinates, target position geographic coordinates and camera parameter data, use the coordinates as guide mark coordinates for marking a guide mark and marks the guide mark in the guide mark coordinates of the display screen for being displayed on the real-time image in a superimposed way.
Description
[technical field]
The invention relates to a kind of navigational system, refer to especially on a kind of street image taking in real time and overlap and show the real-time image navigation system of guidance information.
[background technology]
Conventional satellite navigational system is at the pre-rendered guidance information such as the arrow of chart display two-dimensionally, path, and user must certainly be about to the two-dimensional map that navigational system shows and compare with three-dimensional outdoor scene at the moment.In some cases, for example, meet complicated the street cross road, overpass or annulus etc., between two-dimensional map and three-dimensional outdoor scene, have suitable difference, easily cause user cannot understand guidance information.
Therefore, navigational system dealer can take pictures and collect the data such as traffic sign for locality in recent years, and draws stereoscopic picture plane; When the aforementioned locality of vehicle approach, replace two-dimensional map with stereoscopic picture plane, on stereoscopic picture plane, indicate guidance information, allow user easily understand the direction that navigational system is guided.But in fact, based on cost consideration, navigational system dealer only can be for part place, for example magnitude of traffic flow is large and make stereoscopic picture plane with the place that passerby easily produces puzzlement.Do not make the place of stereoscopic picture plane when user passes through, still can only watch simple two-dimensional map.
The more important thing is, make terrestrial reference disappear when demolishing buildings or reconstruction or change, navigational system dealer is difficult to immediately more new database.In the case, when user pass through complexion change place, navigational system but shows old stereoscopic picture plane, more easily causes user to obscure.
[summary of the invention]
Therefore, object of the present invention, at the real-time image navigation system that overlapping demonstration guidance information on a kind of street image taking is in real time provided.
A further object of the present invention, is to provide on a kind of street image taking in real time to overlap and show the real-time imaging air navigation aid of guidance information.
So, real-time image navigation system of the present invention, comprise a display screen, in order to the inertial navigation unit of system motion information to be provided, and one in order to plan the navigation elements of travel route, it is characterized in that this system also comprises: an image acquisition unit for pick-up image, an image that this image acquisition unit is captured are shown in image process unit, the locating unit of this display screen in real time, and a control module.
Positioning unit is connected with this inertial navigation unit and this navigation elements, and the information providing according to this inertial navigation unit calculates the geographic coordinate of a current position, and the next one that receives this navigation elements and provide needs the geographic coordinate of the target location of real-time imaging guiding.
The camera parameter data relevant to this image acquisition unit that control module stores in advance according to this current position geographic coordinate, target location geographic coordinate and, calculate the coordinate of a target location in this display screen and guide mark coordinate as being used for indicating one of a guide mark; And make this guide mark be shown in the guide mark coordinate place of this display screen and overlap to be shown on this real-time imaging.
Preferably, this control module calculates the mode of this guide mark coordinate, first to obtain between the current position of this guider and this target location in plane two vertical direction and the distance of height, calculate again the image space of this target location on the image sensor of this image acquisition unit, finally obtain the coordinate of this target location on display screen, as this guide mark coordinate.
Preferably, this positioning unit utilizes the current position coordinate of its acquisition and target location coordinate to calculate both distances, and inspect current position and whether arrived the place that need to carry out real-time imaging guiding, if, just notify this image process unit to show this real-time imaging, and notice control module calculate this guide mark coordinate and indicate this guide coordinate.Whether this positioning unit also inspects current position by this target location, if so, notifies this image process unit to stop image display in this display screen.
Preferably, this real-time image navigation system, also comprises an internal memory, and this positioning unit is stored in respectively in current position data of this internal memory and a target position data and continuous updating by current position geographic coordinate and target location geographic coordinate; This control module and this Memory linkage and in these current position data and this target position data reading out data.
Real-time imaging air navigation aid of the present invention utilizes aforementioned buddy system to carry out, and comprises following steps:
(a) obtain the geographic coordinate of a current position, and a next geographic coordinate of wanting the target location that real-time imaging guides;
(b) will be shown in a display screen by the real-time imaging of an image acquisition unit acquisition;
(c) the camera parameter data relevant to this image acquisition unit that store in advance according to this current position geographic coordinate, target location geographic coordinate and, calculate the coordinate of a target location in a display screen of this navigational system, guide mark coordinate as being used for indicating one of a guide mark; And
(d) make this guide mark be shown in the guide mark coordinate place of this display screen and overlap and be shown on this real-time imaging.
Preferably, in this step (c), calculate the mode of this guide mark coordinate, first to obtain between the current position of this navigational system and this target location in plane two vertical direction and the distance of height, calculate again this target location in the image space of this image acquisition unit, finally obtain the coordinate of this target location on this display screen, as this guide mark coordinate.
Preferably, this step (b) and step (c), (d) be when this current position arrived one need to carry out real-time imaging guiding place time just trigger, and when this current position is by this target location, stop image display in this display screen.
Preferably, the current position geographic coordinate that this step (a) is obtained and target location geographic coordinate are stored in respectively in an internal memory and continuous updating, as the Data Source of execution step (c).
For object of the present invention, structural attitude and function thereof are had to further understanding, hereby coordinate accompanying drawing to be described in detail as follows:
[brief description of the drawings]
Fig. 1 is a system block diagrams, and the system architecture of the preferred embodiment of real-time image navigation system of the present invention is described;
Fig. 2 is a process flow diagram, and the real-time imaging air navigation aid that the present embodiment is carried out is described;
Fig. 3 is a schematic diagram, and the map in the illustrated place of wanting real-time imaging guiding of the present embodiment is described;
Fig. 4 is a schematic diagram, and the image that an image acquisition unit captures is described;
Fig. 5 and Fig. 6 are relevant information and the relativenesses of calculating the required object of this guide mark coordinate in order to explanation;
Fig. 7 is a schematic diagram, significantly guides mark on illustrating on this image repeatedly.
[embodiment]
About aforementioned and other technology contents, feature and effect of the present invention, in the following detailed description coordinating with reference to a graphic preferred embodiment, can clearly present.
Consult Fig. 1, the preferred embodiment of real-time imaging guider 100 of the present invention is for being installed on an automobile, comprise a housing (not shown), be located at a navigation elements 1 and an inertial navigation unit (Inertial Navigation System in housing, be called for short INS) 2, one is located at the display screen 3 of surface of shell, and increase or adjust for realizing real-time imaging navigation the locating unit 4 of setting newly, one control module 5, one image acquisition unit 61, one image process unit 62, and one store a target position data 71, the internal memory 7 of one current position data 72 and camera parameter data 73.
This navigation elements 1 is mainly in order to plan travel route, and it learns current position coordinate according to satnav (GPS) data, and calculates best travel route or the shortest travel route according to the destination of user's input.At the present embodiment, this navigation elements 1 is according to travel route and the satellite location data of its planning, and notice positioning unit 4 next ones need the related data of the target location of real-time imaging guiding, and content comprises target location coordinate.
Inertial navigation unit 2 generally speaking have accelerate rule and gyroscope etc. can provider to the member of the movable information such as acceleration, the steering order that can send according to positioning unit 4 at the present embodiment, by system 100 at present towards which direction advance, the movable information such as accekeration offers positioning unit 4.
Below coordinate and consult the real-time imaging air navigation aid that Fig. 2 illustrates that the present embodiment real-time image navigation system 100 is carried out.
When real-time imaging navigation feature starts, navigation elements 1 can constantly be found out the next target location that needs real-time imaging guiding in travel route according to travel route and gps data, example circle choosing place as shown in Figure 3, it is fork in the road more than, and notify the related data of positioning unit 4 these target locations, content comprises target location coordinate (step S11).
The target location related data that positioning unit 4 provides according to navigation elements 1, deposits in target location coordinate in target position data 72 memory spaces of internal memory 7.In addition, positioning unit 4 also continues inertial navigation unit 2 to send steering order, make inertial navigation unit 2 that the information such as system 100 direction of motion, accekeration are provided, 4 of this positioning units one after another according to received information calculate system 100 at present in three-dimensional space with respect to relative position and the direction of starting point, obtain current position geographic coordinate and a direction, and deposit in current position data 71 memory spaces of internal memory 7 (step S12).
Positioning unit 4 utilizes the current position coordinate of its acquisition and target location coordinate to calculate both distances, and whether inspection system 100 current positions arrive a place (step S13) that needs real-time imaging to guide.In general, approximately 100 meters of this distance location target locations.This step continues to carry out, until system 100 current positions arrive this place, enters step S14 and S15.
At step S14, the image display that image process unit 62 starts current image acquisition unit 61 to capture is in display screen 3, as shown in Figure 4.
On the other hand at step S15, control module 5 is set or obtains with height sensors in addition during according to the current position coordinate, target location coordinate, camera parameter data that store in map data base (not shown), internal memory 7 and system 100 terrain clearance H(installation system 100), and gps data, calculating will indicate one of a guide mark and guide mark coordinate in display screen 3.Coordinate and consult Fig. 5 and Fig. 6, this camera parameter data content comprises wide cW and the high cH of focal distance f (camera lens 611 is to the distance of image sensor 612), image sensor 612, in addition, also comprises the pixel p W × pH of display screen 3.Computing method are described as follows in detail:
I. according to current position coordinate and target location coordinate, calculate distance B and angle a, further obtain distance X=D.sin (a) and Y=D.cos (a) in plane two vertical direction.
II. reading system 100 terrain clearance H, and obtain the sea level elevation of target location and current position and calculate height difference H by map data base ', then calculate the difference in height dH=H-H ' of target location and system 100.
III. the image space of calculated target positions on the image sensor 612 of image acquisition unit 61.Taking image sensor 612 centers as initial point, in coordinate (x, h), x=f.X/Y, coordinate h=f.dH/Y.
IV. last, the coordinate (px, py) of calculated target positions on display screen 3, as a guide mark coordinate, wherein px=x.pW/cW, py=h.pH/cH.
At step S16, controller 5 locates to indicate a guide mark at the coordinate (px, py) of this display screen 3, a for example downward arrow, and arrow apical position is to guiding mark coordinate (px, py); And this guide mark is overlapped be shown on real-time imaging and as shown in Figure 7.Thus, user can intuitively understand navigational system 100 be actually guiding which bar road.
Along with vehicle continues to advance, the current position coordinate of positioning unit 4 continuous updatings, height difference H ' also with change, the coordinate of target location on display screen 3 also changes, abovementioned steps S15 and S16 continue to carry out and make to guide mark to keep being shown in the coordinate place of target location on display screen.
In addition, the distance that positioning unit 4 continues between calculated target positions and current position, whether inspection system 100 current positions are by target location (step S17).When by this target location, image process unit 62 stops image display in display screen 3(step S18), now, navigation elements 1 can reinform positioning unit 4 next ones needs the target location of real-time imaging guiding and flow process again.
Control module 5 judges whether real-time imaging guidance function stops (step S19), for example user whether operating system 100 is closed this function, if so, process ends; If not, continue carry out this flow process.
In sum, real-time image navigation system 100 of the present invention can, in the time of the place of vehicle approach real-time imaging guiding, switch to image mode and on direct changing, guide mark in image, allows user intuitively understand the guided orientation of navigational system 100; In addition, because image is real, different even if the terrestrial references such as nearby buildings and navigational system dealer record, navigational system 100 of the present invention still can be suitable for, and does not need to collect in addition data, makes stereoscopic picture plane in addition, therefore really can reach object of the present invention.
Claims (8)
1. a real-time image navigation system, comprises a display screen, in order to the inertial navigation unit of system motion information to be provided, and one in order to plan the navigation elements of travel route, it is characterized in that, this system also comprises:
One image acquisition unit, for pick-up image;
One image process unit, is shown in this display screen, i.e. a real-time imaging in real time by the image of this image acquisition unit acquisition;
Locating unit, be connected with this inertial navigation unit and this navigation elements, and the information providing according to this inertial navigation unit calculates the geographic coordinate of a current position, and receive the target location coordinate that the next one that this navigation elements provides need to this real-time imaging guiding; And
One control module, the camera parameter data relevant to this image acquisition unit that store in advance according to this current position geographic coordinate, target location geographic coordinate and, calculate the coordinate of a target location in this display screen, guide mark coordinate using this coordinate as being used for indicating one of a guide mark; And make this guide mark be shown in the guide mark coordinate place of this display screen and overlap to be shown on this real-time imaging, this control module calculates the mode of this guide mark coordinate, first to obtain between the current position of this guider and this target location in plane two vertical direction and the distance of height, calculate again the image space of this target location on the image sensor of this image acquisition unit, finally obtain the coordinate of this target location on display screen, as this guide mark coordinate.
2. real-time image navigation system as claimed in claim 1, it is characterized in that, this positioning unit utilizes the current position coordinate of its acquisition and target location coordinate to calculate both distances, and inspect current position and whether arrived the place that need to carry out real-time imaging guiding, if, just notify this image process unit to show this real-time imaging, and notify this control module to calculate this guide mark coordinate and indicate this guide coordinate.
3. real-time image navigation system as claimed in claim 2, is characterized in that, whether this positioning unit also inspects current position by this target location, if so, notifies this image process unit to stop image display in this display screen.
4. the real-time image navigation system as described in claim 1,2 or 3, is characterized in that, it also comprises an internal memory, and this positioning unit is stored in respectively in this internal memory and continuous updating by this current position geographic coordinate and target location geographic coordinate; This control module and this Memory linkage reading out data.
5. a real-time imaging air navigation aid, utilizes a navigational system to carry out, and it is characterized in that, it comprises following steps:
(a) obtain the geographic coordinate of a current position, and a next geographic coordinate of wanting the target location that real-time imaging guides;
(b) will be shown in a display screen by the real-time imaging of an image acquisition unit acquisition;
(c) according to this current position geographic coordinate, the camera parameter data relevant to this image acquisition unit that target location geographic coordinate and stores in advance, calculate the coordinate of a target location in a display screen of this navigational system, guide mark coordinate as being used for indicating one of a guide mark, calculate the mode of this guide mark coordinate, first to obtain between the current position of this navigational system and this target location in plane two vertical direction and the distance of height, calculate again this target location in the image space of this image acquisition unit, finally obtain the coordinate of this target location on this display screen, as this guide mark coordinate, and
(d) make this guide mark be shown in the guide mark coordinate place of this display screen and overlap and be shown on this real-time imaging.
6. as claim requires 5 real-time imaging air navigation aids, it is characterized in that, this step (b) and step (c), (d) be when this current position arrived one need to carry out real-time imaging guiding place time just trigger.
7. as claim requires 6 real-time imaging air navigation aids, it is characterized in that, when this current position is by this target location, stop image display in this display screen.
8. as claim requires the real-time imaging air navigation aid as described in 5,6 or 7, it is characterized in that, the current position geographic coordinate that this step (a) is obtained and target location geographic coordinate are stored in respectively in an internal memory and continuous updating, as the Data Source of execution step (c).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010202158.9A CN102288180B (en) | 2010-06-18 | 2010-06-18 | Real-time image navigation system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010202158.9A CN102288180B (en) | 2010-06-18 | 2010-06-18 | Real-time image navigation system and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102288180A CN102288180A (en) | 2011-12-21 |
| CN102288180B true CN102288180B (en) | 2014-07-09 |
Family
ID=45334804
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201010202158.9A Expired - Fee Related CN102288180B (en) | 2010-06-18 | 2010-06-18 | Real-time image navigation system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102288180B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102121831B (en) * | 2010-12-01 | 2013-01-09 | 北京腾瑞万里科技有限公司 | Real-time street view navigation method and device |
| JP6341060B2 (en) * | 2014-11-04 | 2018-06-13 | 株式会社デンソー | Vehicle image processing device |
| TWI575222B (en) * | 2015-09-11 | 2017-03-21 | 蹦世界數位創意股份有限公司 | Data processing system and method for generating guiding network based on regional layout image |
| CN107024222B (en) * | 2016-01-29 | 2020-06-12 | 华创车电技术中心股份有限公司 | Driving navigation device |
| CN111750888B (en) * | 2020-06-17 | 2021-05-04 | 北京嘀嘀无限科技发展有限公司 | Information interaction method and device, electronic equipment and computer readable storage medium |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6285317B1 (en) * | 1998-05-01 | 2001-09-04 | Lucent Technologies Inc. | Navigation system with three-dimensional display |
| US7376510B1 (en) * | 2004-11-05 | 2008-05-20 | Navteq North America, Llc | Map display for a navigation system |
| CN100487692C (en) * | 2005-09-30 | 2009-05-13 | 佛山市顺德区顺达电脑厂有限公司 | System for combining geographic information and visiting-card management and its method |
| CN101055178A (en) * | 2006-04-14 | 2007-10-17 | 雅音商行 | Positioning system for simultaneously displaying outer scene image and coordinate position map image |
| CN200986435Y (en) * | 2006-10-13 | 2007-12-05 | 智基科技开发股份有限公司 | Navigation apparatus with image analysis |
| CN200993579Y (en) * | 2006-11-09 | 2007-12-19 | 智基科技开发股份有限公司 | Image navigation device |
| CN101339040A (en) * | 2007-07-02 | 2009-01-07 | 佛山市顺德区顺达电脑厂有限公司 | Navigation method and system |
| CN101726308B (en) * | 2008-10-15 | 2012-07-25 | 北京龙图通信息技术有限公司 | Method for generating crossing actual scene induced map of navigation electronic map |
-
2010
- 2010-06-18 CN CN201010202158.9A patent/CN102288180B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN102288180A (en) | 2011-12-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US8239131B2 (en) | Navigation device, navigation method, and navigation program | |
| US10969229B2 (en) | Creation and use of enhanced maps | |
| US10760922B2 (en) | Augmented reality maps | |
| CN101194143B (en) | Navigation device with camera information | |
| US20130162665A1 (en) | Image view in mapping | |
| CN102037325A (en) | Computer arrangement and method for displaying navigation data in 3D | |
| US20100070173A1 (en) | Navigation system, portable terminal device, and peripheral-image display method | |
| KR20110044217A (en) | Method of displaying navigation data in 3d | |
| CN101523157A (en) | Method and apparatus for generating an orthorectified tile | |
| KR100822814B1 (en) | Method for overlapping real-time landscape image and gis data | |
| CN102288180B (en) | Real-time image navigation system and method | |
| CN102798397A (en) | Navigation device with camera information | |
| JP2006284281A (en) | Own vehicle information recognition device and method | |
| JP2009204385A (en) | Targeting device, method, and program | |
| WO2022039011A1 (en) | Navigation using computer system | |
| TWI426237B (en) | Instant image navigation system and method | |
| JP2007206014A (en) | Navigation device | |
| JP5262232B2 (en) | Image orientation display method and apparatus, and photograph | |
| RU2375756C2 (en) | Navigation device with information received from camera | |
| CN102538799A (en) | Method and device for representing part of circumferential environment | |
| US20200326202A1 (en) | Method, Device and System for Displaying Augmented Reality POI Information | |
| JP2007263849A (en) | Navigation device | |
| CN112115219A (en) | Position determination method, device, equipment and storage medium | |
| JP2014066595A (en) | Navigation apparatus | |
| KR100587397B1 (en) | Method of surveying structural facilities along road by using vehicle with gps receiver, laser measuring instrument and camera |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140709 |