CN103424113B - Indoor positioning and navigating method of mobile terminal based on image recognition technology - Google Patents

Indoor positioning and navigating method of mobile terminal based on image recognition technology Download PDF

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CN103424113B
CN103424113B CN 201310334056 CN201310334056A CN103424113B CN 103424113 B CN103424113 B CN 103424113B CN 201310334056 CN201310334056 CN 201310334056 CN 201310334056 A CN201310334056 A CN 201310334056A CN 103424113 B CN103424113 B CN 103424113B
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scene
image
stored
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mobile terminal
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CN103424113A (en
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毛蔚青
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毛蔚青
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00Navigation; Navigational instruments not provided for in preceding groups G01C1/00-G01C19/00
    • G01C21/20Instruments for performing navigational calculations
    • G01C21/206Instruments for performing navigational calculations specially adapted for indoor navigation
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00Navigation; Navigational instruments not provided for in preceding groups G01C1/00-G01C19/00
    • G01C21/26Navigation; Navigational instruments not provided for in preceding groups G01C1/00-G01C19/00 specially adapted for navigation in a road network
    • G01C21/34Route searching; Route guidance
    • G01C21/36Input/output arrangements for on-board computers
    • G01C21/3602Input other than that of destination using image analysis, e.g. detection of road signs, lanes, buildings, real preceding vehicles using a camera

Abstract

本发明公开了一种移动终端基于图像识别技术的室内定位与导航方法,包括以下步骤:1)获取用户所处位置的即时场景图像;2)将所述即时场景图像信息发送至服务器,并与服务器数据库中的若干预存场景图像信息进行特征比对、识别;3)获得相匹配的预存场景图像信息以及该对应的预存现场位置信息;4)将对应的预存现场位置信息发送至移动终端;5)显示现场地图,并对应的预存现场位置信息在现场地图中予以标示。 The present invention discloses a mobile terminal positioning and indoor navigation method based on the image recognition technique, comprising the following steps: 1) Get the user's location immediate scene images; 2) sending the image information to the server an instant scene, and with a plurality of pre-stored image of the scene information in the server database feature comparison, identification; 3) obtaining a pre-stored image of the scene information and pre-stored on-site location information of the corresponding match; 4) transmits the stored scene position information corresponding to the mobile terminal; 5 ) show site map, site location information stored and be marked in the corresponding site map. 采用本发明移动终端基于图像识别技术的室内定位与导航方法,直接利用现场实际景物实现场景定位,优点是简单、方便、灵活、准确、可靠性强,适应性强,可覆盖任意位置。 Using the mobile terminal of the present invention is an indoor positioning and navigation method for image recognition technology, the actual site directly targeting scene implementation scenario, the advantage of simple, convenient, flexible, accurate, high reliability, adaptability, can cover anywhere.

Description

移动终端基于图像识别技术的室内定位与导航方法 Indoor positioning and navigation image recognition technology based on a mobile terminal

技术领域 FIELD

[0001] 本发明涉及移动终端室内定位与导航应用以及移动互联网技术领域,尤其涉及一种移动终端基于图像识别技术的室内定位与导航方法。 [0001] The present invention relates to a mobile indoor positioning and navigation applications and mobile Internet terminal technical field, and particularly to a mobile terminal and indoor navigation positioning method of an image recognition technology.

背景技术 Background technique

[0002] 随着智能手机应用的普及,基于GPS的移动终端户外定位与导航应用日益成熟;而室内定位导航则是指在建筑物内部或室内环境中的位置定位与目标导航,由于室内空间及建筑结构复杂,单纯的GPS技术无法满足定位要求,因此出现了多种多样的室内定位技术与方法,主要包括:WiF1、通讯基站、蓝牙、NFC、RFID、超声、地磁等信号定位,二维码及特定标识物定位,以及利用手机内置传感器(陀螺仪、加速度传感器、方位传感器等)跟踪运动的定位方式等。 [0002] With the popularity of smartphone applications, GPS-based mobile terminals outdoor positioning and navigation applications become more sophisticated; and it refers to an indoor navigation inside a building or in an indoor environment with the target location positioning navigation, and because the interior space building structure complex, simple GPS positioning technology can not meet the requirements, resulting in a wide variety of indoor positioning technologies and methods, including: WiF1, communication base stations, Bluetooth, NFC, RFID, ultrasound, and other geomagnetic positioning signals, two-dimensional code and locating a particular identifier, and the use of the mobile phone built-in sensor (a gyroscope, an acceleration sensor, an azimuth sensor, etc.) to track movement of targeting methods, and the like.

[0003] 上述各类室内定位与导航技术或是通过各种信号感应以定位本地位置,或是需要安置定位标识物,分别存在信号不稳定、定位不准确、易发生故障或损坏等问题与缺陷,或者由于硬件设备铺设、现场信号采集、安放定位标识物等工程作业,需要物管及相关业主方面配合,因而实施难度大、运营成本高;同时,诸如在室内设置二维码及特定标识物的方式,还存在着二维码及特定标识物必须在适当的位置设置,无法任意位置设置的缺陷,从而降低了定位的准确性,另一方面,二维码及特定标识物容易因人为或非人为的因素毁损,增加了额外的维护成本。 [0003] The types of indoor positioning and navigation signals induced by a variety of techniques, or to locate the home location, or placement need positioning mark, jitters are present, positioning is not accurate, prone to failure or damage and other problems and defects , due to hardware or laying apparatus, the field signal acquisition, engineering work positioning mark placed the like, and the related need for building owners with property management, and thus difficult to implement, operating costs are high; the same time, such as two-dimensional code is provided in the room and a specific identifier way, there are two-dimensional code and a specific identifier to be set in place, the defect position can not be arbitrarily set, thereby reducing the positioning accuracy, on the other hand, two-dimensional code and vulnerable to human-specific marker, or non-human factors damage, adds additional maintenance costs. 鉴于上述诸多因素,室内定位及导航至今仍难普及。 In view of the above reasons, indoor positioning and navigation has still difficult to spread.

发明内容 SUMMARY

[0004] 本发明要解决的技术问题是克服现有技术中的缺陷,提供一种移动终端基于图像识别技术的室内定位与导航方法,主要针对建筑物内部的定位与导航,要点在于采用场景定位方式,使用移动终端内置拍照功能,获取用户附近环境实景图像信息,以所匹配的位置作为参照,从而获知自身位置。 [0004] The present invention is to solve the technical problem is to overcome disadvantages of the prior art, there is provided a mobile terminal locating and indoor navigation method based on the image recognition technique, mainly for positioning and navigation inside the building, using the scene point is positioned mode, the built-in camera function using the mobile terminal, the user acquires image information near real environment, the position of the match as a reference, so as to know its own position.

[0005] 为解决上述问题,本发明的一种移动终端基于图像识别技术的室内定位与导航方法,包括以下步骤: [0005] In order to solve the above problems, the indoor positioning and navigation method of image recognition technique according to the present invention, a mobile terminal based, comprising the steps of:

[0006] I)获取用户所处位置的即时场景图像; [0006] I) to obtain the user's immediate location of the image scene;

[0007] 2)将所述即时场景图像信息发送至服务器,并与服务器数据库中的若干预存场景图像信息进行特征比对、识别;其中每一预存图像信息对应一预存现场位置信息; [0007] 2) the instant the scene image information to the server, and feature matching, with several pre-stored image of the scene identification information in the server database; wherein each stored image information corresponding to a field location information stored;

[0008] 3)获得与所述即时场景图像信息相匹配的预存场景图像信息以及该相匹配的预存场景图像信息对应的预存现场位置信息; [0008] 3) scene image obtained the instant the pre-stored information matches the pre-stored image of the scene information and the scene field position information pre-stored image information corresponding to the matches;

[0009] 4)将步骤3中所获得的相匹配的预存场景图像信息对应的预存现场位置信息发送至移动终端; [0009] 4) transmits the position information stored field scene image information stored in matched obtained in Step 3 corresponding to the mobile terminal;

[0010] 5)显示现场地图,并将步骤3中所获得的相匹配的预存场景图像信息对应的预存现场位置信息在现场地图中予以标示。 [0010] 5) field display map, the location information stored field scene image information stored matched in step 3 and obtained in the field map to be marked.

[0011] 所述步骤5后,还包括: After the [0011] step 5, further comprising:

[0012] 6)执行针对目标位置的导航功能执行命令。 [0012] 6) Run commands for navigation destination.

[0013] 所述步骤3之前还包括以下步骤: [0013] further comprising the step prior to step 3:

[0014] 21)判断即时场景图像信息是否能够与某一预存场景图像信息相匹配,如果是,进入步骤3,如果否,提示用户重新获取即时场景图像,并返回步骤I。 [0014] 21) determines whether an instant scene image information can be matched to a pre-stored image information of the scene, and if so, proceeds to step 3, and if not, prompts the user to re-acquire an instant image of the scene, and return to step I.

[0015] 所述数据库中的数据采集,包括以下步骤: [0015] The data collected in the database, comprising the steps of:

[0016] A)获取建筑物结构图及各个楼层平面图,建立室内地图; [0016] A) obtaining a building floor plan and the various structural view, indoor maps established;

[0017] B)在建筑物室内确定多个位置点,分别在各个位置点采集室内的场景图像; [0017] B) determining the position of a plurality of points in the room of a building, an indoor scene images were collected at each location point;

[0018] C)将采集到的室内场景图像与采集该图像的位置点进行关联。 [0018] C) the collected indoor scene image associated with the location point of the image acquisition.

[0019] 所述移动终端与服务器之间,通过移动互联网络进行通讯。 [0019] between the mobile terminal and the server communicate via the mobile Internet.

[0020] 所述移动终端包括智能手机、平板电脑或穿戴式电子产品。 [0020] The mobile terminal includes a smart phone, tablet or wearable electronics.

[0021] 所述执行命令包括从用户所在位置到目标位置的相对位置显示、路径显示与导航指令。 [0021] The execution command from the user location comprises a position relative to the target position display, route display and navigation instructions.

[0022] 采用本发明移动终端基于图像识别技术的室内定位与导航方法,直接利用现场实际景物实现场景定位,优点是简单、方便、灵活、准确、可靠性强,适应性强,可覆盖任意位置,并且既无须在现场安装任何用于定位的设备,或者搭建专用服务器,也无须在现场安置任何用于定位的标识物,避免了其它各类定位方式(如WiFi定位等)的稳定性不良、定位不准等问题,也避免了设备安装与维护的复杂繁琐工作和运营成本,以及标识物安置位置受限、不易找寻和易被破坏等问题。 [0022] The mobile terminal according to the present invention, the indoor positioning and navigation method for image recognition technology, the actual site directly targeting scene implementation scenario, the advantage of simple, convenient, flexible, accurate, high reliability, adaptability, can cover anywhere and both installed in the field without any adverse apparatus for positioning, or to build dedicated server, there is no need to place any markers positioned in the field, to avoid other types of targeting methods (such as WiFi positioning) stability, positioning allowed and so on, and also to avoid the installation work complicated and tedious operation and maintenance costs, as well as a position marker disposed limited susceptible to damage and easy to find problems.

附图说明 BRIEF DESCRIPTION

[0023] 图1为本发明中数据库的数据采集流程; [0023] FIG 1 database data acquisition process of the present invention;

[0024] 图2为本发明中室内定位流程; [0024] FIG 2 is positioned in the process chamber of the present invention;

[0025] 图3为本发明中移动终端的定位启动界面不意图; [0025] Figure 3 is not intended to start positioning in the mobile terminal interface of the present invention;

[0026] 图4为本发明中移动终端的定位操作界面示意图; [0026] FIG 4 is positioned in the operator interface of the mobile terminal of the present invention, a schematic diagram;

[0027] 图5为本发明中移动终端的定位显示界面示意图。 [0027] FIG. 5 of the present invention positioned in a mobile terminal display interface of Fig.

具体实施方式 Detailed ways

[0028] 为了使本技术领域的人员更好地理解本发明技术方案,下面结合实施方式对本发明作进一步的详细说明,但本发明并不局限于所列的实施例。 [0028] In order to make those skilled in the art better understand the technical solution of the present invention, the following embodiment in conjunction with embodiments of the present invention will be further described in detail, but the present invention is not limited to the embodiments set forth.

[0029] 本发明的一种移动终端基于图像识别技术的室内定位与导航方法,需要用户在诸如智能手机、平板电脑,以及眼镜(谷歌眼镜)、手表等穿戴电子产品等移动终端上安装具备基于图形识别技术的室内定位与导航功能的客户端应用软件,此客户端通过移动互联网与客户端运营商的后台服务器相连接;或者加入可承载此项服务并可连接相关定位导航服务运营商后台服务器的其它客户端应用平台(如:微信公共帐号等)。 [0029] A mobile terminal according to the present invention, the indoor positioning and navigation method for image recognition technology, requires the user on such as a smart phone, tablet, and the spectacle (Google glasses), watches, and other wearable electronic products such as mobile terminals installation comprising Based client application software indoor positioning and navigation pattern recognition technology, the client via the Internet and the mobile operator's backend server the client is connected to side; this bearer service can be added or can be connected to positioning and navigation-related service operator backend server other internet client application (such as: micro-channel public account number, etc.).

[0030] 上述提供此项定位导航服务的运营商需要首先完成以下数据采集步骤(如图1所示): [0030] This provides the above-described navigation service operators need to complete the data acquisition step (Figure 1):

[0031] A)获取建筑物结构图及各个楼层平面图,建立室内地图; [0031] A) obtaining a building floor plan and the various structural view, indoor maps established;

[0032] B)在建筑物室内确定多个位置点,分别在各个位置点采集室内的场景图像;该步骤中,数据采集人员可以使用诸如数码相机的图像采集装置,在所述位置点处,采集其附近的室内场景图像;在每个位置点处,可以沿不同角度和方向采集多个图像;由于可以采用这种拍照的方式来获取室内的场景图像,因此不受场地的限制,只要在能够拍摄到场景的位置点,就能够任意拍摄大量图像,为后续的精确定位提供参照支持; [0032] B) determining a plurality of location points in the room of a building, an indoor scene images were collected at each location point; in this step, the data acquisition can use a digital camera as an image acquisition device, at a point in said position, indoor scene image acquisition in the vicinity thereof; points at each position, multiple images may be acquired in different angles and directions; since with this way to get photographed scene image chamber, so space is not limited, as long as position of the point can be captured scene, it is possible to arbitrarily large number of images captured, provide support for subsequent reference to precise positioning;

[0033] C)将采集到的室内场景图像与采集该图像的位置点进行关联,所述位置点信息即为预存现场位置信息;同时在步骤A中获取的建筑物结构图及各个楼层平面图中确定各个位置点对应的信息。 [0033] C) the collected indoor scene image associated with the location point of the image acquisition, the position of the point information is the pre-stored location information of the scene; FIG building structure simultaneously acquired in step A and the respective floor plan determining information corresponding to the respective position of the point.

[0034] 建立好数据库后,同时运营商还可以适时对数据库进行更新。 After the [0034] establish a good database, while operators can timely update the database.

[0035] 用户在建筑物室内现场操作定位导航功能,需完成以下步骤(如图2所示): [0035] The user navigation operation room of a building site, complete the following steps (Figure 2):

[0036] I)获取用户所处位置的即时场景图像; [0036] I) to obtain the user's immediate location of the image scene;

[0037] 该步骤中,用户在需要室内导航的时候,可以使用其移动终端中的具有本发明基于图形识别技术的室内定位与导航功能的客户端应用软件,首先启动该应用软件,进入定位界面(如图3所示);用户选择开始定位,则摄像机功能开启,显示现场画面(如图4所示);用户选择附近环境中能够具有地标功能的场景作为参照点,将移动终端摄像机镜头对准该场景,点击拍照或扫描,从而获取用户所处位置的即时场景图像; [0037] In this step, the user when needed indoor navigation, may be used based on indoor positioning and navigation pattern recognition technology client application software having the present invention is that a mobile terminal first starts the application software on the positioning interface (FIG. 3); the user selects the start position, the camera function is turned on, the display field screen (FIG. 4); the user selects a scene in the surrounding environment can have a function as a landmark reference point, the camera lens to the mobile terminal the quasi-scene, click on the photo or scanned image of the scene in order to gain instant the user's location;

[0038] 2)移动终端在获取即时场景图像后,将所述即时场景图像信息发送至服务器,月艮务器将收到的即时场景图像信息与数据库中的若干预存场景图像信息进行特征比对、识别;其中每一预存图像信息对应关联一预存现场位置信息,该预存现场位置信息即如前所述的位置点的信息; [0038] 2) the mobile terminal, after obtaining an instant scene image, the scene image information to the instant instant scene image information stored plurality of image scene information in the database server, will receive a monthly that works to the alignment feature identification; wherein each stored image information associated with a pre-stored location information of the field, the field information of the pre-stored location information that is location of the point as described above;

[0039] 当用户获取即时场景图像时,可能拍摄角度、景深与获取预存场景图像时不同,或者现场的场景被部分遮挡,因此用户获取的即时场景图像可能无法与预存场景图像相同,因此该步骤中服务器调取数据库中的若干预存场景图像信息与即时场景图像通过图像识别技术进行比对,并判断出与即时场景图像相同或者相近似的预存场景图像,二者的近似度可以根据需要任意设定,例如在60%〜100%的区间内,即当即时场景图像与预存场景图像的近似度在上述区间范围内时,则判断二者的信息相匹配; [0039] When the user gets an instant image of the scene may shooting angle, the depth of field is different from getting stored scene image, or the scene of the scene is blocked portion, the immediate scene image obtained user may not be the same as the pre-stored image of the scene, so the step a plurality of pre-stored image information instant scene scene image server is retrieved in the database by comparing image recognition technique, and it is determined that the real time image of the same scene or similar to the pre-stored image of the scene, the degree of approximation of any desired two may be provided in accordance with set, for example within the range of 60% ~ 100%, i.e., when the immediate scene image scene image pre-stored degree of similarity in the above range, this is determined both information match;

[0040] 图像识别技术能够实现对两幅图片特征信息的比对,从而确定二者相似度,因此无需在室内额外增设具有识别特征的编码图形、自然图像或物体,只需要获取室内的真实场景原貌的图像存入数据库作为预存场景图像即可,而后在用户需要定位时,拍摄即时场景图像与这些预存场景图像进行图像识别,找出与其相匹配的预存场景图像; [0040] The image recognition technology to achieve alignment of the two image feature information, to determine both the degree of similarity, and therefore need not have a code pattern recognition features, or natural images Extra additional object only needs to acquire the real scene chamber original image scene stored in the database as the pre-stored image can then when the user needs to position, instantly captured scene image with the pre-stored image recognition scene image, the scene image to identify pre-stored matching therewith;

[0041] 所述移动终端与服务器之间,通过移动互联网络进行通讯; [0041] between the mobile terminal and a server, via a mobile communication network;

[0042] 使用移动互联网络将移动终端与后台的服务器联接进行数据交换,可以利用后台服务器强大的数据处理功能,快捷迅速地查找到与移动终端发送的即时场景图像相同或相近似的预存场景图像,同时服务器内可以存储大量的预存场景图像,以满足精确定位的需要; [0042] The mobile Internet server coupled to the mobile terminal and the background data exchange, using the back-end server may be powerful data processing functions, find fast and rapid scene image transmitted real time to the mobile terminal substantially identical or similar pre-stored image of the scene , while the server can store a large amount of pre-stored image of the scene in order to meet the need for precise positioning;

[0043] 21)判断即时场景图像信息是否能够与某一预存场景图像信息相匹配,如果是,进入步骤3,如果否,提示用户重新获取即时场景图像,并返回步骤I ; [0043] 21) determines whether an instant scene image information can be matched to a pre-stored image information of the scene, and if so, proceeds to step 3, and if not, prompts the user to re-acquire an instant image of the scene, and return to step I;

[0044] 由于用户采集到的即时场景图像可能存在质量问题,或者数据库中预存的场景图像信息不足,有可能存在即时场景图像信息无法与预存场景图像信息相匹配的情况,进而无法完成定位,因此在发生上述情况时,服务器向移动终端发送信息提示用户重新获取即时场景图像,并返回步骤I; [0044] Since the user acquired immediate scene image quality problems may exist, or in a database pre-stored image of the scene information is insufficient, there may instant scene image information can not be the case of pre-stored scene image information matches, and thus can not complete the positioning, so when this occurs, the server transmits information to the mobile terminal prompts the user to re-acquire an instant image of the scene, and return to step I;

[0045] 3)当即时场景图像信息能够与某一预存场景图像信息相匹配时,则获得该预存场景图像信息,以及该相匹配的预存场景图像信息对应的预存现场位置信息; [0045] 3) When an instant scene image information can be matched to a pre-stored image information of a scene, the scene is obtained which pre-stored image information, and a field pre-stored position information pre-stored image information of the scene corresponding to the matched;

[0046] 4)将步骤3中所获得的相匹配的预存场景图像信息对应的预存现场位置信息发送至移动终端; [0046] 4) transmits the position information stored field scene image information stored in matched obtained in Step 3 corresponding to the mobile terminal;

[0047] 5)移动终端显示现场地图,并将步骤3中所获得的相匹配的预存场景图像信息对应的预存现场位置信息在现场地图中予以标示,该标示点即为用户的定位点,如图5所示; [0047] 5) the mobile terminal displays a map site, stored on-site pre-stored position information corresponding to the scene and the image information obtained in step 3 match site map to be marked, the marked point is the user location point, such as As shown in FIG 5;

[0048] 6 )执行针对目标位置的导航功能执行命令。 [0048] 6) Run commands for navigation destination.

[0049] 所述执行命令包括从用户所在位置到目标位置的相对位置显示、路径显示与导航指令。 [0049] The execution command from the user location comprises a position relative to the target position display, route display and navigation instructions.

[0050] 用户还可以随时获取并收藏即时场景图像信息,以便后续查找进行定位(如:停车位置、商家店铺位置等)。 [0050] the user can always get real-time image of the scene and collected information for subsequent lookup to locate (eg: parking position, businesses and stores location, etc.).

[0051] 以上所述仅是本发明的基本实施方式,对于本技术领域的技术人员来说,在不脱离本发明原理的前提下,还可以做出若干改进、润饰和发展,这些基于本发明的改进、润饰和发展也应视为本发明的保护范围。 [0051] The above are only the basic embodiment of the invention, those skilled in the art, in the present invention without departing from the principles of the premise, can make various improvements, retouch and development, based on which the present invention improvement, retouching and development should also be considered as the scope of the invention.

Claims (2)

1.一种移动终端基于图像识别技术的室内定位与导航方法,其特征在于,包括以下步骤: 1)获取用户所处位置的即时场景图像; 该步骤中,用户在需要室内导航的时候,可以使用其移动终端中基于图形识别技术的室内定位与导航功能的客户端应用软件,首先启动该应用软件,进入定位界面;用户选择开始定位,则摄像机功能开启,显示现场画面;用户选择附近环境中能够具有地标功能的场景作为参照点,将移动终端摄像机镜头对准该场景,点击拍照或扫描,从而获取用户所处位置的即时场景图像; 2)移动终端在获取即时场景图像后,将所述即时场景图像信息发送至服务器,服务器将收到的即时场景图像信息与数据库中的若干预存场景图像信息进行特征比对、识别;其中每一预存图像信息对应关联一预存现场位置信息; 当用户获取即时场景图像时, A mobile terminal method of indoor positioning and navigation based on the image recognition technique, characterized by, comprising the following steps: 1) Get the user's location immediate scene image; this step, the user navigation chamber when needed, can be using their mobile terminal client application software based on indoor positioning and navigation pattern recognition technology, first starts the application software on the positioning interface; chooses to start positioning, the camera function is turned on, the display field screen; the user selects the nearby environment instant scene image scene can have a function as a landmark reference point, the mobile terminal camera lens at the scene, click picture or scan so as to acquire the user's location; 2) after the mobile terminal acquires immediate scene image, the instant scene image information to the server, a number of pre-stored image information of the scene image information instant scene database server will receive in alignment feature recognition; wherein each stored image information corresponding to position information associated with a field stored; when the user gets instant scene image, 能拍摄角度、景深与获取预存场景图像时不同,或者现场的场景被部分遮挡,因此用户获取的即时场景图像可能无法与预存场景图像相同,因此该步骤中服务器调取数据库中的若干预存场景图像信息与即时场景图像通过图像识别技术进行比对,并判断出与即时场景图像相同或者相近似的预存场景图像,二者的近似度可以根据需要任意设定,即当即时场景图像与预存场景图像的近似度在上述区间范围内时,则判断二者的信息相匹配;图像识别技术能够实现对两幅图片特征信息的比对,从而确定二者相似度,因此无需在室内额外增设具有识别特征的编码图形、自然图像或物体,只需要获取室内的真实场景原貌的图像存入数据库作为预存场景图像即可,而后在用户需要定位时,拍摄即时场景图像与这些预存场景图像进行图像识别,找出与其相匹配的预存 Can shooting angle, depth of field and acquiring the stored scene image different, or live scene is blocked portion, the immediate scene image obtained user may not be the same as the pre-stored image of the scene, and therefore a number of pre-stored image of a scene in this step the server retrieved database instant information scene image are aligned by the image recognition technology, and it is determined that the real time image of the same scene or similar to the pre-stored image of the scene, both the degree of approximation may be arbitrarily set as required, i.e. the instant when the pre-stored image of the scene with the scene image the degree of similarity in the above range interval, it is determined that both information match; image recognition technology to implement than two pairs of image feature information, to determine both the degree of similarity, and therefore need not have identified additional features in extra the code pattern, natural image or object, just need to get a real picture of the interior of the original scene stored in the database as a stored image of the scene can be, and then when the user needs to position, real-time scene captured image recognition and image of these pre-existing image of the scene to find matching the pre-stored therewith 场景图像;所述移动终端与服务器之间,通过移动互联网络进行通讯;使用移动互联网络将移动终端与后台的服务器联接进行数据交换,可以利用后台服务器强大的数据处理功能,快捷迅速地查找到与移动终端发送的即时场景图像相同或相近似的预存场景图像,同时服务器内可以存储大量的预存场景图像,以满足精确定位的需要; 判断即时场景图像信息是否能够与某一预存场景图像信息相匹配,如果是,进入步骤3),如果否,提示用户重新获取即时场景图像,并返回步骤I); 3)获得与所述即时场景图像信息相匹配的预存场景图像信息以及该相匹配的预存场景图像信息对应的预存现场位置信息; 4)将步骤3)中所获得的相匹配的预存场景图像信息对应的预存现场位置信息发送至移动终端; 5)显示现场地图,并将步骤3中所获得的相匹配的预存场景图像信 A scene image; between the mobile terminal and a server, via a mobile communication network; using a mobile Internet server coupled to the mobile terminal and the background data exchange, using the back-end server may be powerful data processing functions, find fast and rapid instant scene image transmitted to the mobile terminal substantially identical or similar pre-stored image of the scene, and can store a large number of pre-stored image of the scene within the server, to meet the need for precise positioning; determining whether an instant scene image information relative to a certain scene image information stored matching, if so, proceeds to step 3), if not, it prompts the user to re-acquire an instant image of the scene, and returns the I step); 3) to obtain pre-stored image information of the instant scene scene image and matches the information matches the pre-stored field position information pre-stored image information corresponding to the scene; field stored position information matches the pre-stored image information corresponding to the scene 4) in step 3) obtained in to the mobile terminal; 5) site map display, and as in step 3 scene matches pre-stored image signal obtained 对应的预存现场位置信息在现场地图中予以标示; 6)执行针对目标位置的导航功能执行命令,所述执行命令包括从用户所在位置到目标位置的相对位置显示、路径显示与导航指令。 Pre-stored position information corresponding to the scene to be marked in the field map; 6) performs a navigation function execution command for the target location, comprising a command from the user location to display the relative position of the target position, and the navigation route display the instruction execution.
2.如权利要求1所述的移动终端基于图像识别技术的室内定位与导航方法,其特征在于,所述数据库中的数据采集,包括以下步骤: A)建立建筑物室内地图; B)在建筑物室内确定多个位置点,分别在各个位置点采集室内的场景图像; C)将采集到的室内场景图像与采集该图像的位置点进行关联。 In building B); A) establish a room of a building map: 2. The mobile terminal as claimed in claim 1 indoor positioning and navigation method based on the image recognition technique, characterized in that said database of data acquisition, comprising the steps of determining a plurality of location points were indoor, indoor scene images were collected at each location point; C) the collected indoor scene image associated with the location point of the image acquisition.
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