CN103134489A - Method of conducting target location based on mobile terminal - Google Patents
Method of conducting target location based on mobile terminal Download PDFInfo
- Publication number
- CN103134489A CN103134489A CN2013100345977A CN201310034597A CN103134489A CN 103134489 A CN103134489 A CN 103134489A CN 2013100345977 A CN2013100345977 A CN 2013100345977A CN 201310034597 A CN201310034597 A CN 201310034597A CN 103134489 A CN103134489 A CN 103134489A
- Authority
- CN
- China
- Prior art keywords
- mobile terminal
- target object
- described mobile
- photo
- obtains
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 67
- 230000001133 acceleration Effects 0.000 claims description 31
- 230000008569 process Effects 0.000 claims description 29
- 230000004807 localization Effects 0.000 claims description 20
- 238000006073 displacement reaction Methods 0.000 claims description 13
- 238000005259 measurement Methods 0.000 claims description 11
- 238000003384 imaging method Methods 0.000 claims description 9
- 238000000605 extraction Methods 0.000 claims description 5
- 230000008859 change Effects 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 4
- 238000001914 filtration Methods 0.000 claims description 4
- 238000005457 optimization Methods 0.000 claims description 4
- 239000000284 extract Substances 0.000 claims description 3
- 238000007519 figuring Methods 0.000 abstract 1
- 230000000694 effects Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 238000013480 data collection Methods 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000007781 pre-processing Methods 0.000 description 1
- 238000012913 prioritisation Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Images
Landscapes
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention provides a method of conducting target location based on a mobile terminal. The method comprises the following steps: S1. figuring and getting distance between a target object and the mobile terminal based on a photography distance measure principle, S2. obtaining location information of the mobile terminal and azimuth information of the target object relative to the mobile terminal, S3. and locating location information of the target object by combining the distance between the target object and the mobile terminal with the location information of the mobile terminal and the azimuth information of the target object relative to the mobile terminal, wherein the distance between the target object and the mobile terminal is achieved from step S1 and the location information of the mobile terminal and the azimuth information of the target object relative to the mobile terminal are achieved from step S2. Positioning of the target object is achieved fast, timely, accurately and simply.
Description
Technical field
The invention belongs to the Technology for Target Location field, be specifically related to a kind of method that movement-based terminal is carried out target localization.
Background technology
In recent years, smart mobile phone universal expedited the emergence of a series of application services relevant to the position, path navigation for example, position mark, dining room, hotel and public place of entertainment recommendation etc.In above-mentioned various application, usually adopt and serve based on the inquiry mode of self-position; Namely, at first the user utilizes the positioning system that carries on smart mobile phone that self-position is positioned, obtain the positional information of self position, then this positional information affix inquiry problem is sent to service provider, wherein, concrete inquiry problem can for " which restaurant on every side has? ", " how from arriving at the airport here? "After service provider receives the Query Information that the user provides, can return to the different Query Result of user according to user's different demands.
Yet this kind also exposed some negative effects based on the inquiry of self-position.For example user's location privacy can't be effectively protected, and what is more, has the positional information of lawless person by analysis user that user's daily habits is judged, when the user stays out, user's family is stolen.In addition, when adopting this kind based on the inquiry mode of self-position, at first the user needs near target object, and then inquires about by the positioning system that smart mobile phone carries, and this has additionally increased user's burden undoubtedly, has reduced user's experience.
Occurred again the inquiry mode of based target object position in prior art, this kind mode is more applicable for the service relevant to the position.For example " how many prices of those hotel standard rooms is? ", " what time close the door in this family shopping center at the moment? "Therefore, in the service relevant to the position, how fast and accurately the localizing objects object is extremely important.
In prior art, usually adopt computer vision technique to realize target object is located.Concrete, at first from different perspectives target object is taken pictures, then regenerate the three-dimensional model of this object by computer vision technique, and calculate this object and the distance of self by depth of field previewing angle information, finally calculate the position of this object.
Yet this kind located target object based on computer vision technique and had shortcomings, and at first, this Technology Need user takes pictures to target object from diverse location, increased user's use burden, for the user has brought inconvenience; Secondly, by the voluminous object photo, this contour of object is carried out three-dimensional reconstruction and can bring very large calculated amount and long time to postpone, and the assessing the cost and postponed to have stoped universal in real application systems of the method for this great number.
Summary of the invention
Defective for prior art exists the invention provides a kind of method that movement-based terminal is carried out target localization, can be fast, in real time, accurately, simply target object is positioned.
The technical solution used in the present invention is as follows:
The invention provides a kind of movement-based terminal and carry out the method for target localization, comprise the following steps:
S1 calculates distance between target object and mobile terminal based on the photography range measurement principle;
S2 obtains the positional information of described mobile terminal and described target object with respect to the azimuth information of described mobile terminal;
S3, the positional information of the described target object that obtains in conjunction with S1 and the distance between mobile terminal, described mobile terminal that S2 obtains and described target object are with respect to the positional information of the described target object in azimuth information location of described mobile terminal.
Preferably, S1 is specially:
S11, described mobile terminal is taken pictures to described target object for the first time in primary importance, obtains first photo;
S12, described mobile terminal moves to the second place from described primary importance, and in the described second place, described target object is taken pictures for the second time, obtains second photo;
S13 calculates the distance, delta d between described primary importance and the described second place, and pantograph ratio k, wherein, and k=z
1/ z
2, z
1Represent that described target object is at the imaging size of described primary importance, z
2Represent that described target object is in the imaging size of the described second place;
S14, calculate respectively according to following formula primary importance camera lens distance objective object apart from d
1And the camera lens distance objective object of the second place apart from d
2
Wherein, f represents focal length.
Preferably, in S13, the distance, delta d that calculates between described primary importance and the described second place is specially:
Move to the process of the described second place from described primary importance at described mobile terminal, record the accekeration of described mobile terminal moving process by the acceleration transducer of described mobile terminal self configuration; Then this accekeration is carried out quadratic integral, obtain Δ d.
Preferably, described acceleration transducer records the accekeration of described mobile terminal moving process, then this accekeration is carried out quadratic integral, obtains Δ d and is specially:
Accekeration to the described mobile terminal moving process of described acceleration transducer record carries out pre-service, obtains pretreated accekeration; Then described pretreated accekeration is carried out quadratic integral, obtain Δ d;
Wherein, described pre-service comprises direction calibration, and noise treatment and distance are optimized.
Preferably, described direction calibration is specially:
End coordinates system and the world coordinate system of supposing described mobile terminal self are respectively (x, y, z) and (X, Y, Z);
Make θ
x, θ
yWith θ
zAngle between difference GC group connector coordinate system and world coordinate system x-axis, y-axis and z-axis; According to formula a
Y=a
yCos (θ
y)+a
xSin (θ
x) cos (θ
z)+a
zSin (θ
z) cos (θ
x) obtain pretreated accekeration; Wherein, a
x, a
y, a
zRepresent that respectively the acceleration of described mobile terminal moving process of the acceleration transducer record that obtains before pre-service is at the component of x, y, z axle, a
YRepresent the component of the acceleration Y-axis that obtains after pre-service;
And/or
Described noise treatment is specially:
The noise that described acceleration transducer produces is thought to meet white noise (N (0, σ
2)), suppose that the accekeration of the described mobile terminal moving process of described acceleration transducer record meets first order Markov, adopt Kalman filtering to eliminate the system noise of following in the described accekeration that collects;
And/or
Described distance optimization is specially:
Move to the process of the described second place from described primary importance at described mobile terminal, n time point of random selection serves as a mark a little, whole integrating range is divided into m sub-range, then the described accekeration that in each sub-range, described acceleration transducer is recorded respectively carries out quadratic integral, calculates respectively the displacement d of described mobile terminal in each sub-range
1, d
2... d
m
Arrange and each displacement d
1, d
2... d
mThe parameter Δ d that difference is corresponding
1, Δ d
2... Δ d
m, constantly change each Δ d
1, Δ d
2... Δ d
mBe worth, be met the s of following Optimized model
1, s
2... s
m
d
i+Δd
i＝s
i
s
iBetween the constraint equation set
Preferably, in S13, pantograph ratio k obtains by the following method:
S131 carries out pre-service to described first photo and described second photo, extracts described target object at the image of described first photo and the described target object image at described second photo;
S132 calculates the image of described target object at described first photo, and obtaining described target object is z in the size of described first photo
1And, the image of described target object at described second photo calculated, obtaining described target object is z in the size of described second photo
2
S133 is according to formula k=z
1/ z
2Calculate pantograph ratio k.
Preferably, described first photo and described second photo are carried out pretreated method identical, described first photo are carried out pre-service be specially:
Target is extracted the stage: from the CCD planar central point of described first photo, constantly iteration is sought the boundary line of described target object, until seek successfully;
The Boundary Detection stage: adopt Sobel Operator to carry out Boundary Extraction to the target object in described first photo.
Preferably, in S2, the positional information of obtaining described mobile terminal is specially:
Obtain the positional information of described mobile terminal by the locating device of described mobile terminal self configuration.
Preferably, in S2, obtain described target object and be specially with respect to the azimuth information of described mobile terminal:
Direction sensor by described mobile terminal self configuration obtains described mobile terminal described target object is taken pictures in process, and described target object is with respect to the azimuth information of described mobile terminal.
Preferably, the direction sensor by described mobile terminal self configuration obtains described mobile terminal described target object is taken pictures in process, and described target object is specially with respect to the azimuth information of described mobile terminal:
Make the screen of described mobile terminal facing to sky, the described target object of the head points of described mobile terminal records the position angle W ' at described target object place;
Make the screen of described mobile terminal to landing ground, the described target object of the head points of described mobile terminal records the position angle W at described target object place ";
According to formula
Calculate described target object with respect to the position angle W of described mobile terminal.
Beneficial effect of the present invention is as follows:
Movement-based terminal provided by the invention is carried out the method for target localization, after the distance and the pantograph ratio of target object in two photos that obtain to take pictures between the position for twice, calculate distance between target object and mobile terminal according to the photography range measurement principle; Reentry target object with respect to orientation and mobile terminal self azimuth information of mobile terminal, can realize the location to target object, belong to a kind of active object localization method, be applicable to the target object in outdoor environment is positioned; And the location cost is little, convenient, bearing accuracy is high; Can also effectively protect individual position's privacy of user.
Description of drawings
Fig. 1 is the schematic flow sheet that movement-based terminal provided by the invention is carried out the method for target localization;
Fig. 2 is existing photography range measurement principle schematic diagram;
Fig. 3 is the contrast figure of end coordinates system and world coordinate system under an angle provided by the invention;
Fig. 4 is that Fig. 3 is from the contrast figure of another angle observable end coordinates system and world coordinate system;
Fig. 5 is the schematic diagram that range observation is optimized to fast mobile terminal.
Embodiment
The present invention is described in detail below in conjunction with accompanying drawing:
As shown in Figure 1, the invention provides a kind of method that movement-based terminal is carried out target localization, comprise the following steps:
S1 calculates distance between target object and mobile terminal based on the photography range measurement principle;
S2 obtains the positional information of described mobile terminal and described target object with respect to the azimuth information of described mobile terminal;
Wherein, obtain the positional information of described mobile terminal by the locating device of described mobile terminal self configuration.Locating device can be the GPS locating device.
Obtaining described target object can obtain by the direction sensor of mobile terminal self configuration with respect to the azimuth information of described mobile terminal, but, due in actual applications, interference effect due to the magnetic field that is subject to the generation of outdoor various magnetic field and mobile terminal self electric current, can there be certain deviation in the position angle of using direction sensor to record, and then impact is to the judgement of target object position.
In order to eliminate the external magnetic field to the impact of the direction sensor of mobile terminal, random ten directions of ten different physical locations of selecting are carried out the bearing data collection, found that, there is a deviation angle between the orientation angles that direction sensor collects and actual angle, this deviation angle concentrates near a special value, therefore, this deviation angle can by approximate think to be subject to a static magnetic field disturb cause.
Based on above-mentioned discovery, the present invention adopts penalty method that the direction angle error is revised.Concrete grammar is:
Direction sensor by described mobile terminal self configuration obtains described mobile terminal described target object is taken pictures in process, and described target object is with respect to the azimuth information of described mobile terminal.
Make the screen of described mobile terminal facing to sky, the described target object of the head points of described mobile terminal records the position angle W ' at described target object place;
Make the screen of described mobile terminal to landing ground, the described target object of the head points of described mobile terminal records the position angle W at described target object place ";
According to formula
Calculate described target object with respect to the position angle W of described mobile terminal.
S3, the positional information of the described target object that obtains in conjunction with S1 and the distance between mobile terminal, described mobile terminal that S2 obtains and described target object are with respect to the positional information of the described target object in azimuth information location of described mobile terminal.
Need to prove that mobile terminal of the present invention for having the mobile terminal of location and camera function, includes but not limited to smart mobile phone, panel computer etc.
For first step S1, mainly be based on the photography range measurement principle, that is: the user is from taking pictures to target object respectively with two positions of target object different distance, distance relation between taking pictures a little according to two, and the pantograph ratio of target object in two photos, and then calculate distance between target object and intelligence mobile terminal.
The existing photography range measurement principle of paper, then introduce implementation procedure of the present invention:
One, existing photography range measurement principle
For convenience of understanding, the existing photography range measurement principle of paper:
In Fig. 2, Object represents target object, CCD representative image sensor, LENZ representative shot;
Distance between hypothetical target object and camera lens is d, and the actual size of target object is s, and target object is z in magazine imaging size, and f represents focal length, and l represents as the distance between plane and camera lens.Formula is arranged
(1): zd=sl;
Mobile camera is taking pictures a little 1 and take pictures and a little 2 respectively target object is taken pictures:
In a little 1 position of taking pictures, obtain following parameter: d
1---the distance between target object and camera lens; z
1---target object is in magazine imaging size; l
1---as the distance between plane and camera lens;
In a little 2 positions of taking pictures, obtain following parameter: d
2---the distance between target object and camera lens; z
2---target object is in magazine imaging size; l
2---as the distance between plane and camera lens;
According to formula (one), obtain following formula (two):
d
2-kd
1-f (1-k)=0; Wherein, k represents z
1/ z
2
Further, according to formula (two), can obtain following formula (three) and formula (four):
Can be found out by formula (three) and formula (four), only need target object is carried out taking pictures for twice, obtain target object pantograph ratio in two photos, simultaneously, obtain two distances between taking pictures a little, distance between can calculating target object and taking pictures a little realizes the location to target object.
Two, the distance between target object of the present invention and mobile terminal is calculated
Based on above-mentioned photography range measurement principle, the distance between target object and mobile terminal can obtain in the following manner:
S11, described mobile terminal is taken pictures to described target object for the first time in primary importance, obtains first photo;
S12, described mobile terminal moves to the second place from described primary importance, and in the described second place, described target object is taken pictures for the second time, obtains second photo;
S13 calculates the distance, delta d between described primary importance and the described second place, and pantograph ratio k, wherein, and k=z
1/ z
2, z
1Represent that described target object is at the imaging size of described primary importance, z
2Represent that described target object is in the imaging size of the described second place;
Wherein, distance, delta d between primary importance and the second place obtains by following manner: mobile terminal moves to the process of the second place from primary importance, and the accekeration of the acceleration transducer record move fast mobile terminal process by mobile terminal self configuration; Then this accekeration is carried out quadratic integral, obtain Δ d.
In actual applications, often can't require the user at two far points of distance, target object to be taken pictures.Therefore, in the present invention, suppose that at first the user only need make mobile terminal near the head of oneself, target object be taken pictures for the first time, then stretches arm target object is taken pictures for the second time.In the process that arm stretches, acceleration transducer records the acceleration change of arm.Then this accekeration is carried out the move distance that quadratic integral obtains arm, i.e. Δ d.
Yet in practice, be subject to the cost of equipment, the perceived accuracy of the acceleration transducer in mobile terminal is often relatively poor, can't directly carry out distance and calculate.Secondly, due in arm movement, the attitude of mobile terminal does not overlap fully with world coordinate system, therefore can't only utilize on mobile terminal the accelerogram value along a direction to carry out integration.Therefore before the displacement of calculating arm, need to carry out pre-service to the sensing data that collects.This preprocessing process comprises direction calibration, and noise treatment and distance are optimized.
Described direction calibration is specially:
Direction calibration is mainly used in filtering gravity to the interference of the accekeration generation of mobile terminal.
End coordinates system and the world coordinate system of supposing described mobile terminal self are respectively (x, y, z) and (X, Y, Z);
Make θ
x, θ
yWith θ
zAngle between difference GC group connector coordinate system and world coordinate system x-axis, y-axis and z-axis, the angular acceleration that this angle can record by the gyroscope that mobile terminal is carried carries out integration and obtains; According to formula a
Y=a
yCos (θ
y)+a
xSin (θ
x) cos (θ
z)+a
zSin (θ
z) cos (θ
x) obtain pretreated accekeration; Wherein, a
x, a
y, a
zRepresent that respectively the acceleration of described mobile terminal moving process of the acceleration transducer record that obtains before pre-service is at the component of x, y, z axle, a
YRepresent the component of the acceleration Y-axis that obtains after pre-service;
And/or
Described noise treatment is specially:
Noise treatment is mainly used in the reading error that acceleration transducer brings not due to self precision is processed.
The noise that described acceleration transducer produces is thought to meet white noise (N (0, σ
2)), suppose that the accekeration of the described mobile terminal moving process of described acceleration transducer record meets first order Markov, adopt Kalman filtering to eliminate the system noise of following in the described accekeration that collects;
And/or
Described distance optimization is specially:
Move to the process of the described second place from described primary importance at described mobile terminal, n time point of random selection serves as a mark a little, whole integrating range is divided into m sub-range, then the described accekeration that in each sub-range, described acceleration transducer is recorded respectively carries out quadratic integral, calculates respectively the displacement d of described mobile terminal in each sub-range
1, d
2... d
m
Arrange and each displacement d
1, d
2... d
mThe parameter Δ d that difference is corresponding
1, Δ d
2... Δ d
m, constantly change each Δ d
1, Δ d
2... Δ d
mBe worth, be met the s of following Optimized model
1, s
2... s
m
d
i+Δd
i＝s
i
s
iBetween the constraint equation set
As shown in Figure 3, with n=3, m=6 is example, introduces a kind of concrete apart from prioritization scheme:
In the moving process of mobile terminal, system chooses at random 3 time points and serves as a mark a little, and whole integrating range is divided into 6 sub-ranges (Fig. 3).Then in each sub-range, acceleration is done quadratic integral (d=∫ (∫ adt) dt) respectively, try to achieve the desired displacement of mobile terminal in each sub-range, i.e. s
1, s
2... s
6
Suppose that the desired displacement of mobile terminal is respectively s in these 6 sub-ranges
1, s
2, s
3, s
4, s
5And s
6And the displacement in each sub-range that obtains by integral and calculating is d
1, d
2, d
3, d
4, d
5And d
6Ideally, d
i=s
iYet due to the impact of noise, the desired displacement in each sub-range has difference with the corresponding displacement that calculates.Therefore, optimization aim of the present invention is: guarantee mutual relationship between the length of sub-range by the displacement that calculates that changes every cross-talk interval.
Optimized model is as follows:
s
1+s
2＝s
4
s
2+s
3＝s
5
s
1+s
2+s
3＝s
6
d
i+Δd
i＝s
i
Wherein, Δ d
iRepresent mobile d
iDistance, by this Optimized model, further improved distance accuracy.
Pantograph ratio k obtains by the following method:
S131 carries out pre-service to described first photo and described second photo, extracts described target object at the image of described first photo and the described target object image at described second photo; Wherein, described first photo and described second photo are carried out pretreated method identical, described first photo are carried out pre-service be specially:
Target is extracted the stage: using mobile terminal target object to be taken pictures in process, usually many irrelevant objects can be taken into, and these irrelevant objects can cause the automatic identification of target object and have a strong impact on, the reduction object recognition rate.In order to reduce the impact that identification causes on target object of irrelevant object, the present invention is by adopting detection mode from inside to outside to come iteration to seek target object.Specific practice is from CCD planar central point, and constantly iteration is sought the boundary line of target object, until seek successfully first.The method mainly based on thought be: in the process of taking pictures, the user tends to target object is concentrated on the CCD planar central.
The Boundary Detection stage: the present invention adopts Sobel Operator (Sobel Operator) to come the target object in comparison film to carry out Boundary Extraction.Not only calculated amount is little but also can obtain good Boundary Extraction effect in the relatively poor picture of image quality to adopt the advantage of this operator to be the method.Experimental results show that the method still can obtain higher Boundary Extraction degree of accuracy in the image of low resolution.Therefore, especially be fit to the weak electronic equipment of computing power such as smart mobile phone.
S132 calculates the image of described target object at described first photo, and obtaining described target object is z in the size of described first photo
1And, the image of described target object at described second photo calculated, obtaining described target object is z in the size of described second photo
2
S133 is according to formula k=z
1/ z
2Calculate pantograph ratio k.
S14, calculate respectively according to following formula primary importance camera lens distance objective object apart from d
1And the camera lens distance objective object of the second place apart from d
2
Wherein, f represents focal length.
In sum, movement-based terminal provided by the invention is carried out the method for target localization, after the distance and the pantograph ratio of target object in two photos that obtain to take pictures between the position for twice, calculate distance between target object and mobile terminal according to the photography range measurement principle; Reentry target object with respect to orientation and mobile terminal self azimuth information of mobile terminal, can realize the location to target object, belong to a kind of active object localization method, be applicable to the target object in outdoor environment is positioned; And the location cost is little, convenient, bearing accuracy is high; Can also effectively protect individual position's privacy of user.
The above is only the preferred embodiment of the present invention; should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the principle of the invention; can also make some improvements and modifications, these improvements and modifications also should be looked protection scope of the present invention.
Claims (10)
1. a movement-based terminal is carried out the method for target localization, it is characterized in that, comprises the following steps:
S1 calculates distance between target object and mobile terminal based on the photography range measurement principle;
S2 obtains the positional information of described mobile terminal and described target object with respect to the azimuth information of described mobile terminal;
S3, the positional information of the described target object that obtains in conjunction with S1 and the distance between mobile terminal, described mobile terminal that S2 obtains and described target object are with respect to the positional information of the described target object in azimuth information location of described mobile terminal.
2. movement-based terminal according to claim 1 is carried out the method for target localization, it is characterized in that, S1 is specially:
S11, described mobile terminal is taken pictures to described target object for the first time in primary importance, obtains first photo;
S12, described mobile terminal moves to the second place from described primary importance, and in the described second place, described target object is taken pictures for the second time, obtains second photo;
S13 calculates the distance, delta d between described primary importance and the described second place, and pantograph ratio k, wherein, and k=z
1/ z
2, z
1Represent that described target object is at the imaging size of described primary importance, z
2Represent that described target object is in the imaging size of the described second place;
S14, calculate respectively according to following formula primary importance camera lens distance objective object apart from d
1And the camera lens distance objective object of the second place apart from d
2
Wherein, f represents focal length.
3. movement-based terminal according to claim 2 is carried out the method for target localization, it is characterized in that, in S13, the distance, delta d that calculates between described primary importance and the described second place is specially:
Move to the process of the described second place from described primary importance at described mobile terminal, record the accekeration of described mobile terminal moving process by the acceleration transducer of described mobile terminal self configuration; Then this accekeration is carried out quadratic integral, obtain Δ d.
4. movement-based terminal according to claim 3 is carried out the method for target localization, it is characterized in that, described acceleration transducer records the accekeration of described mobile terminal moving process, then this accekeration is carried out quadratic integral, obtains Δ d and is specially:
Accekeration to the described mobile terminal moving process of described acceleration transducer record carries out pre-service, obtains pretreated accekeration; Then described pretreated accekeration is carried out quadratic integral, obtain Δ d;
Wherein, described pre-service comprises direction calibration, and noise treatment and distance are optimized.
5. movement-based terminal according to claim 4 is carried out the method for target localization, it is characterized in that, described direction calibration is specially:
End coordinates system and the world coordinate system of supposing described mobile terminal self are respectively (x, y, z) and (X, Y, Z);
Make θ
x, θ
yWith θ
zAngle between difference GC group connector coordinate system and world coordinate system x-axis, y-axis and z-axis; According to formula a
Y=a
yCos (θ
y)+a
xSin (θ
x) cos (θ
z)+a
zSin (z
θ) cos (θ
x) obtain pretreated accekeration; Wherein, a
x, a
y, a
zRepresent that respectively the acceleration of described mobile terminal moving process of the acceleration transducer record that obtains before pre-service is at the component of x, y, z axle, a
YRepresent the component of the acceleration Y-axis that obtains after pre-service;
And/or
Described noise treatment is specially:
The noise that described acceleration transducer produces is thought to meet white noise (N (0, σ
2)), suppose that the accekeration of the described mobile terminal moving process of described acceleration transducer record meets first order Markov, adopt Kalman filtering to eliminate the system noise of following in the described accekeration that collects;
And/or
Described distance optimization is specially:
Move to the process of the described second place from described primary importance at described mobile terminal, n time point of random selection serves as a mark a little, whole integrating range is divided into m sub-range, then the described accekeration that in each sub-range, described acceleration transducer is recorded respectively carries out quadratic integral, calculates respectively the displacement d of described mobile terminal in each sub-range
1, d
2... d
3
Arrange and each displacement d
1, d
2... d
mThe parameter Δ d that difference is corresponding
1, Δ d
2... Δ d
m, constantly change each Δ d
1, Δ d
2... Δ d
mBe worth, be met the s of following Optimized model
1, s
2... s
m
d
i+Δd
i＝s
i
s
iBetween the constraint equation set.
6. movement-based terminal according to claim 2 is carried out the method for target localization, it is characterized in that, in S13, pantograph ratio k obtains by the following method:
S131 carries out pre-service to described first photo and described second photo, extracts described target object at the image of described first photo and the described target object image at described second photo;
S132 calculates the image of described target object at described first photo, and obtaining described target object is z in the size of described first photo
1And, the image of described target object at described second photo calculated, obtaining described target object is z in the size of described second photo
2
S133 is according to formula k=z
1/ z
2Calculate pantograph ratio k.
7. movement-based terminal according to claim 6 is carried out the method for target localization, it is characterized in that, described first photo and described second photo is carried out pretreated method identical, described first photo is carried out pre-service be specially:
Target is extracted the stage: from the CCD planar central point of described first photo, constantly iteration is sought the boundary line of described target object, until seek successfully;
The Boundary Detection stage: adopt Sobel Operator to carry out Boundary Extraction to the target object in described first photo.
8. movement-based terminal according to claim 1 is carried out the method for target localization, it is characterized in that, in S2, the positional information of obtaining described mobile terminal is specially:
Obtain the positional information of described mobile terminal by the locating device of described mobile terminal self configuration.
9. movement-based terminal according to claim 1 is carried out the method for target localization, it is characterized in that, in S2, obtains described target object and is specially with respect to the azimuth information of described mobile terminal:
Direction sensor by described mobile terminal self configuration obtains described mobile terminal described target object is taken pictures in process, and described target object is with respect to the azimuth information of described mobile terminal.
10. movement-based terminal according to claim 9 is carried out the method for target localization, it is characterized in that, direction sensor by described mobile terminal self configuration obtains described mobile terminal described target object is taken pictures in process, and described target object is specially with respect to the azimuth information of described mobile terminal:
Make the screen of described mobile terminal facing to sky, the described target object of the head points of described mobile terminal records the position angle W ' at described target object place;
Make the screen of described mobile terminal to landing ground, the described target object of the head points of described mobile terminal records the position angle W at described target object place ";
According to formula
Calculate described target object with respect to the position angle W of described mobile terminal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310034597.7A CN103134489B (en) | 2013-01-29 | 2013-01-29 | The method of target localization is carried out based on mobile terminal |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310034597.7A CN103134489B (en) | 2013-01-29 | 2013-01-29 | The method of target localization is carried out based on mobile terminal |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103134489A true CN103134489A (en) | 2013-06-05 |
| CN103134489B CN103134489B (en) | 2015-12-23 |
Family
ID=48494632
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310034597.7A Expired - Fee Related CN103134489B (en) | 2013-01-29 | 2013-01-29 | The method of target localization is carried out based on mobile terminal |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103134489B (en) |
Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103604413A (en) * | 2013-11-20 | 2014-02-26 | 南昌航空大学 | Space distance measurement method based on intelligent cell phone |
| CN103630116A (en) * | 2013-10-10 | 2014-03-12 | 北京智谷睿拓技术服务有限公司 | Image acquiring and positioning method and image acquiring and positioning device |
| CN104036211A (en) * | 2014-06-24 | 2014-09-10 | 成都联星微电子有限公司 | Mobile identity authentication range monitoring system and method based on RFID |
| CN104613930A (en) * | 2015-01-04 | 2015-05-13 | 宇龙计算机通信科技(深圳)有限公司 | Method and device for measuring distance as well as mobile terminal |
| CN104897152A (en) * | 2015-03-30 | 2015-09-09 | 酷派软件技术（深圳）有限公司 | Navigation method and navigation apparatus |
| CN104949673A (en) * | 2015-06-12 | 2015-09-30 | 北京邮电大学 | Target locating method and device based on non-visual perception information |
| WO2016062076A1 (en) * | 2014-10-22 | 2016-04-28 | 中兴通讯股份有限公司 | Camera-based positioning method, device, and positioning system |
| CN105571636A (en) * | 2015-12-10 | 2016-05-11 | 科盾科技股份有限公司 | Target positioning method and measuring equipment |
| CN105717319A (en) * | 2016-01-25 | 2016-06-29 | 上海斐讯数据通信技术有限公司 | Train speed measuring system and method |
| CN105758319A (en) * | 2016-03-21 | 2016-07-13 | 北京小米移动软件有限公司 | Method and device for measuring height of target object through mobile terminal |
| CN106092141A (en) * | 2016-07-19 | 2016-11-09 | 纳恩博（北京）科技有限公司 | A kind of method and device improving relative position sensor performance |
| CN106465522A (en) * | 2015-06-05 | 2017-02-22 | 松下知识产权经营株式会社 | Content display system |
| CN106679665A (en) * | 2016-12-13 | 2017-05-17 | 腾讯科技（深圳）有限公司 | Route planning method and route planning device |
| CN106846311A (en) * | 2017-01-21 | 2017-06-13 | 吴东辉 | Positioning and AR method and system and application based on image recognition |
| CN106878949A (en) * | 2017-02-27 | 2017-06-20 | 努比亚技术有限公司 | A kind of positioning terminal based on dual camera, system and method |
| CN109085564A (en) * | 2018-08-31 | 2018-12-25 | 北京邮电大学 | A kind of localization method and device |
| CN109470238A (en) * | 2017-09-08 | 2019-03-15 | 中兴通讯股份有限公司 | A kind of localization method, device and mobile terminal |
| CN110113528A (en) * | 2019-04-26 | 2019-08-09 | 维沃移动通信有限公司 | A kind of parameter acquiring method and terminal device |
| CN112484710A (en) * | 2019-09-11 | 2021-03-12 | 杭州海康微影传感科技有限公司 | Target positioning method, device and equipment and storage medium |
| CN113358090A (en) * | 2021-05-23 | 2021-09-07 | 温州医科大学 | Distance measurement method based on single camera |
| CN113763477A (en) * | 2020-06-03 | 2021-12-07 | 浙江宇视科技有限公司 | Camera point location calibration method, device, equipment and medium |
| CN114353667A (en) * | 2021-12-15 | 2022-04-15 | 中国船舶重工集团公司第七0九研究所 | Ground target measurement method based on AR and unmanned aerial vehicle monocular vision and application thereof |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1880918A (en) * | 2005-06-14 | 2006-12-20 | Lg电子株式会社 | Matching camera-photographed image with map data in portable terminal and travel route guidance method |
| CN101275840A (en) * | 2007-03-30 | 2008-10-01 | 爱信艾达株式会社 | Vehicle behavior learning apparatuses, methods, and programs |
| CN101453693A (en) * | 2008-12-10 | 2009-06-10 | 扬州万方电子技术有限责任公司 | Multi-element information fusion and wireless transmission system based on GIS platform |
-
2013
- 2013-01-29 CN CN201310034597.7A patent/CN103134489B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1880918A (en) * | 2005-06-14 | 2006-12-20 | Lg电子株式会社 | Matching camera-photographed image with map data in portable terminal and travel route guidance method |
| CN101275840A (en) * | 2007-03-30 | 2008-10-01 | 爱信艾达株式会社 | Vehicle behavior learning apparatuses, methods, and programs |
| CN101453693A (en) * | 2008-12-10 | 2009-06-10 | 扬州万方电子技术有限责任公司 | Multi-element information fusion and wireless transmission system based on GIS platform |
Cited By (40)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103630116B (en) * | 2013-10-10 | 2016-03-23 | 北京智谷睿拓技术服务有限公司 | Image acquisition localization method and image acquisition locating device |
| CN103630116A (en) * | 2013-10-10 | 2014-03-12 | 北京智谷睿拓技术服务有限公司 | Image acquiring and positioning method and image acquiring and positioning device |
| WO2015051605A1 (en) * | 2013-10-10 | 2015-04-16 | 北京智谷睿拓技术服务有限公司 | Image collection and locating method, and image collection and locating device |
| US10360450B2 (en) | 2013-10-10 | 2019-07-23 | Beijing Zhigu Rui Tuo Tech Co., Ltd. | Image capturing and positioning method, image capturing and positioning device |
| CN103604413A (en) * | 2013-11-20 | 2014-02-26 | 南昌航空大学 | Space distance measurement method based on intelligent cell phone |
| CN104036211A (en) * | 2014-06-24 | 2014-09-10 | 成都联星微电子有限公司 | Mobile identity authentication range monitoring system and method based on RFID |
| CN104036211B (en) * | 2014-06-24 | 2017-11-24 | 成都联星微电子有限公司 | One kind is based on RFID movement authentication scope monitoring systems and method |
| CN105588543A (en) * | 2014-10-22 | 2016-05-18 | 中兴通讯股份有限公司 | Camera-based positioning method, device and positioning system |
| CN105588543B (en) * | 2014-10-22 | 2019-10-18 | 中兴通讯股份有限公司 | A kind of method, apparatus and positioning system for realizing positioning based on camera |
| WO2016062076A1 (en) * | 2014-10-22 | 2016-04-28 | 中兴通讯股份有限公司 | Camera-based positioning method, device, and positioning system |
| CN104613930B (en) * | 2015-01-04 | 2017-05-17 | 宇龙计算机通信科技(深圳)有限公司 | Method and device for measuring distance as well as mobile terminal |
| CN104613930A (en) * | 2015-01-04 | 2015-05-13 | 宇龙计算机通信科技(深圳)有限公司 | Method and device for measuring distance as well as mobile terminal |
| CN104897152A (en) * | 2015-03-30 | 2015-09-09 | 酷派软件技术（深圳）有限公司 | Navigation method and navigation apparatus |
| CN106465522A (en) * | 2015-06-05 | 2017-02-22 | 松下知识产权经营株式会社 | Content display system |
| CN104949673A (en) * | 2015-06-12 | 2015-09-30 | 北京邮电大学 | Target locating method and device based on non-visual perception information |
| CN104949673B (en) * | 2015-06-12 | 2017-12-22 | 北京邮电大学 | A kind of object localization method and device based on non-vision perception information |
| CN105571636B (en) * | 2015-12-10 | 2017-10-27 | 科盾科技股份有限公司 | One kind is used to position mesh calibration method and measuring apparatus |
| CN105571636A (en) * | 2015-12-10 | 2016-05-11 | 科盾科技股份有限公司 | Target positioning method and measuring equipment |
| CN105717319A (en) * | 2016-01-25 | 2016-06-29 | 上海斐讯数据通信技术有限公司 | Train speed measuring system and method |
| CN105758319A (en) * | 2016-03-21 | 2016-07-13 | 北京小米移动软件有限公司 | Method and device for measuring height of target object through mobile terminal |
| CN105758319B (en) * | 2016-03-21 | 2019-03-22 | 北京小米移动软件有限公司 | The method and apparatus for measuring target object height by mobile terminal |
| CN106092141A (en) * | 2016-07-19 | 2016-11-09 | 纳恩博（北京）科技有限公司 | A kind of method and device improving relative position sensor performance |
| US10495482B2 (en) | 2016-07-19 | 2019-12-03 | Ninebot (Beijing) Tech. Co., Ltd | Method, apparatus and computer storage medium for improving performance of relative position sensor |
| WO2018014449A1 (en) * | 2016-07-19 | 2018-01-25 | 纳恩博（北京）科技有限公司 | Method and device for improving performance of relative-position sensor, and computer storage medium |
| CN106092141B (en) * | 2016-07-19 | 2019-03-01 | 纳恩博（常州）科技有限公司 | A kind of method and device improving relative position sensor performance |
| CN106679665A (en) * | 2016-12-13 | 2017-05-17 | 腾讯科技（深圳）有限公司 | Route planning method and route planning device |
| US11060880B2 (en) | 2016-12-13 | 2021-07-13 | Tencent Technology (Shenzhen) Company Limited | Route planning method and apparatus, computer storage medium, terminal |
| CN106846311A (en) * | 2017-01-21 | 2017-06-13 | 吴东辉 | Positioning and AR method and system and application based on image recognition |
| CN106846311B (en) * | 2017-01-21 | 2023-10-13 | 吴东辉 | Positioning and AR method and system based on image recognition and application |
| CN106878949A (en) * | 2017-02-27 | 2017-06-20 | 努比亚技术有限公司 | A kind of positioning terminal based on dual camera, system and method |
| CN109470238A (en) * | 2017-09-08 | 2019-03-15 | 中兴通讯股份有限公司 | A kind of localization method, device and mobile terminal |
| CN109470238B (en) * | 2017-09-08 | 2023-09-01 | 中兴通讯股份有限公司 | Positioning method and device and mobile terminal |
| CN109085564A (en) * | 2018-08-31 | 2018-12-25 | 北京邮电大学 | A kind of localization method and device |
| CN110113528A (en) * | 2019-04-26 | 2019-08-09 | 维沃移动通信有限公司 | A kind of parameter acquiring method and terminal device |
| CN112484710A (en) * | 2019-09-11 | 2021-03-12 | 杭州海康微影传感科技有限公司 | Target positioning method, device and equipment and storage medium |
| CN112484710B (en) * | 2019-09-11 | 2023-05-26 | 杭州海康微影传感科技有限公司 | Target positioning method, device and equipment and storage medium |
| CN113763477A (en) * | 2020-06-03 | 2021-12-07 | 浙江宇视科技有限公司 | Camera point location calibration method, device, equipment and medium |
| CN113763477B (en) * | 2020-06-03 | 2024-04-05 | 浙江宇视科技有限公司 | Camera point calibration method, device, equipment and medium |
| CN113358090A (en) * | 2021-05-23 | 2021-09-07 | 温州医科大学 | Distance measurement method based on single camera |
| CN114353667A (en) * | 2021-12-15 | 2022-04-15 | 中国船舶重工集团公司第七0九研究所 | Ground target measurement method based on AR and unmanned aerial vehicle monocular vision and application thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103134489B (en) | 2015-12-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103134489B (en) | The method of target localization is carried out based on mobile terminal | |
| US7991194B2 (en) | Apparatus and method for recognizing position using camera | |
| CN105761242B (en) | Blind person walking positioning method based on computer binocular vision and inertial measurement | |
| CN110617821B (en) | Positioning method, positioning device and storage medium | |
| CN111028358B (en) | Indoor environment augmented reality display method and device and terminal equipment | |
| CN107103056B (en) | Local identification-based binocular vision indoor positioning database establishing method and positioning method | |
| CN103874193A (en) | Method and system for positioning mobile terminal | |
| WO2014206067A1 (en) | Method and system for guiding the position | |
| Pagani et al. | Sensors for location-based augmented reality the example of galileo and egnos | |
| Ruotsalainen | Vision-aided pedestrian navigation for challenging GNSS environments | |
| CN106249267A (en) | Target positioning and tracking method and device | |
| CN104748739A (en) | Intelligent machine augmented reality implementation method | |
| CN112129263B (en) | Distance measurement method of separated mobile stereo distance measurement camera | |
| KR100679864B1 (en) | Cellular phone capable of displaying geographic information and a method thereof | |
| CN105184268A (en) | Gesture recognition device, gesture recognition method, and virtual reality system | |
| CN115371673A (en) | Binocular camera target positioning method based on Bundle Adjustment in unknown environment | |
| Li et al. | Research on the UWB/IMU fusion positioning of mobile vehicle based on motion constraints | |
| Serra et al. | Inertial navigation systems for user-centric indoor applications | |
| Cheng et al. | Positioning and navigation of mobile robot with asynchronous fusion of binocular vision system and inertial navigation system | |
| CN114187509B (en) | Object positioning method and device, electronic equipment and storage medium | |
| Jeon et al. | Design of positioning DB automatic update method using Google tango tablet for image based localization system | |
| Wang et al. | Pedestrian positioning in urban city with the aid of Google maps street view | |
| KR20140099963A (en) | Method of displaying an image contents using a directional qr code, portable terminal for performing the method and computer readable medium storing an image contents displaying program | |
| CN106951553A (en) | A kind of address locating methods and device | |
| Rydell et al. | Chameleon v2: Improved imaging-inertial indoor navigation |
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 |
Granted publication date: 20151223 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |