CN103874193B - A kind of method and system of mobile terminal location - Google Patents
A kind of method and system of mobile terminal location Download PDFInfo
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- CN103874193B CN103874193B CN201210538863.5A CN201210538863A CN103874193B CN 103874193 B CN103874193 B CN 103874193B CN 201210538863 A CN201210538863 A CN 201210538863A CN 103874193 B CN103874193 B CN 103874193B
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Abstract
The invention discloses a kind of method and system of mobile terminal location, mobile terminal carries out ground marker the Image Acquisition of multi-angle；Image and photographing information are sent to cloud computing platform by mobile terminal；Mobile terminal receives and shows the location information for the related mobile terminal that cloud computing platform returns；Cloud computing platform calculates the relative position of the mobile terminal and the surface mark object using binocular stereo vision positioning principle by image and photographing information and the actual parameter of combined ground marker.The method and system of the present invention, image data information is acquired by mobile terminal, the storage capacity and computing capability provided using cloud computing technology carries out the image data preservation management of magnanimity and computation-intensive image procossing, the position of final determining mobile terminal, realize the positioning based on cloud computing technology, the positioning of indoor and outdoor can be widely used in, and the powerful calculating provided using high in the clouds and storage capacity calculate the precise location information of mobile terminal.
Description
Technical field
The present invention relates to terminal positioning technical field more particularly to a kind of method and system of mobile terminal location.
Background technology
Currently, realizing the positioning of mobile terminal, there are mainly four types of methods, relevant to be described below：
1) based on mobile base station, the feature of the signal of mobile terminal is sent to according to different mobile base stations (such as when transmitting
Prolong) and the geographical location of corresponding mobile base station calculate the position of mobile terminal；
2) it based on global position system, is received according to the receiving device on mobile terminal and believed from the position of position location satellite
Number, with reference to the map datum of corresponding region, obtain the position where mobile terminal；
3) based on RFID reader, read what is spread in ambient enviroment according to the RFID reader on installation mobile terminal
FRID label information simultaneously therefrom obtains relevant position data；
4) it is strong and weak according to the WIFI signal that the WIFI reception devices of installation on mobile terminals receive based on WIFI network
And the position of the location layout information judgement mobile terminal of corresponding WIFI hot spot.
It is not high there are positioning accuracy based on mobile base station and based on the method for global position system in above-mentioned four kinds of methods
The problem of, and the positioning of mobile terminal indoors can not be used for；Method based on RFID reader is suitable for indoor fixed
Position, it require that environment is supported to carry out fairly large transformation to related, such as widespread deployment record has location information
RFID label tag；Method based on WIFI network can carry out the positioning of indoor and outdoor in theory, but it is wide there is also needing
General deployment WIFI hot spot, at the same its using effect can by the factors such as the coverage of WIFI signal (such as indoor wall to letter
Number shielding) influence.
Invention content
In view of this, the invention solves a technical problem be to provide a kind of method of mobile terminal location, pass through
The actual measurement parameter of image and combination marker calculates the location information of mobile terminal.
A kind of method of mobile terminal location, including：Mobile terminal carries out ground marker the Image Acquisition of multi-angle；
Image and photographing information are sent to cloud computing platform by the mobile terminal；The mobile terminal receives and shows the cloud computing
The location information for the related mobile terminal that platform returns；Wherein, the cloud computing platform is believed by described image and shooting
It ceases and with reference to the actual parameter of the surface mark object, the mobile terminal is calculated using binocular stereo vision positioning principle
With the relative position of the surface mark object.
According to one embodiment of the method for the invention, further, it is clapped using the camera that the mobile terminal carries
It takes the photograph the photograph of the surface mark object and records relevant photographing information；The photographing information includes：The position of focal length, mobile terminal
Put variation and the elevation angle variation of camera；Time shift of taking pictures every time is obtained using the inertial sensor device built in the mobile terminal
The change in location of dynamic terminal；The inertial sensor device includes：Accelerometer and gyroscope.
According to one embodiment of the method for the invention, further, the mobile terminal is put down according to from the cloud computing
The location information that platform receives, in the map shown on the display screen of the mobile terminal, demarcate it is described it is mobile eventually
The position at end；The location information is broadcasted by the loud speaker that the mobile terminal carries.
According to one embodiment of the method for the invention, further, the mobile terminal and the cloud computing platform it
Between pass through 3G communication networks or WIFI wireless networks and carry out data interaction.
According to one embodiment of the method for the invention, further, the cloud computing platform is on the mobile terminal
The image of biography is calculated and is handled, and identifies the identity of the surface mark object；The cloud computing platform is from cartographic information library
The middle address for obtaining the surface mark object and practical physical message, image data and its bat with reference to the surface mark object
It takes the photograph information to be compared, calculates the relative position of the mobile terminal and the surface mark object, and combining cartographic information obtains
The location information is sent to the mobile terminal by the location information of the mobile terminal；The cloud computing platform is based on dividing
Cloth preserves and manages magnanimity mark object image and map datum, and Distributed Parallel Algorithm is utilized to carry out image procossing calculating.
According to one embodiment of the method for the invention, further, the cloud computing platform uses binocular stereo vision
Positioning principle calculates the relative position of the mobile terminal and the surface mark object, wherein：L is the mobile terminal first
The place of secondary shooting photo, R are second of place for shooting photo of the mobile terminal, and O points represent the characteristic point on marker；
The lens focus of the mobile terminal is f, and the distance between L and R are b, and Lo is that the mobile terminal takes for the first time
The center of one photograph, Lx are imaging of the O points in the first phase on piece, and Ro is the second photograph that the mobile terminal takes for the second time
Center, Rx be O points the phase on piece of the second photograph imaging；O points are to the vertical range d=b*f/ of LR lines | xL-xR|；Its
In, xLFor abscissas of the point Lx in the first photograph, xRFor abscissas of the point Rx in the second photograph.
The invention solves a technical problem be to provide a kind of system of mobile terminal location, by image and combine
The actual measurement parameter of marker calculates the location information of mobile terminal.
A kind of system of mobile terminal location, including：Mobile terminal and cloud computing platform；The mobile terminal is for over the ground
Face marker carries out the Image Acquisition of multi-angle, and image and photographing information are sent to cloud computing platform；The mobile terminal
Receive and show the location information for the related mobile terminal locations that the cloud computing platform returns；The cloud computing platform leads to
Described image and photographing information are crossed and with reference to the actual parameter of the surface mark object, using binocular stereo vision positioning principle meter
Calculate the relative position of the mobile terminal and the surface mark object.
One embodiment of the system according to the present invention, further, mobile terminal includes：Image collecting device and position
Detection device；Described image harvester shoots the photograph of the surface mark object；The position detecting device records relevant
Photographing information；The photographing information includes：The elevation angle variation of focal length, the change in location of mobile terminal and camera；The position
Detection device includes：Accelerometer and gyroscope；Wherein described accelerometer and gyroscope obtain mobile terminal when taking pictures every time
Mobile terminal change in location and camera the elevation angle variation.
One embodiment of the system according to the present invention, further, the mobile terminal include location information and receive list
Member；The location information receiving unit is according to the location information received from the cloud computing platform, described mobile whole
In the map shown on the display screen at end, the position of the mobile terminal is demarcated.
One embodiment of the system according to the present invention, further, the mobile terminal include network communication device；Institute
It states and data interaction is carried out by 3G communication networks or WIFI wireless networks between network communication device and the cloud computing platform.
One embodiment of the system according to the present invention, further, the cloud computing platform include：Image processing unit
With geographic information processing unit；The image that the geographic information processing unit uploads the mobile terminal is calculated and is located
Reason identifies the identity of surface mark object；Described image processing unit obtains the surface mark object from cartographic information library
Address and practical physical message, compare and analyze with reference to the image data and its photographing information of the surface mark object, count
The relative position of the mobile terminal and the surface mark object is calculated, and combining cartographic information obtains the position of the mobile terminal
The location information is sent to the mobile terminal by information；Wherein, the cloud computing platform is based on distributed preservation and management
Magnanimity mark object image and map datum carry out image procossing calculating using Distributed Parallel Algorithm.
One embodiment of the system according to the present invention, further, described image processing unit use binocular tri-dimensional
Feel that positioning principle calculates the relative position of the mobile terminal and the surface mark object, wherein：L is the mobile terminal the
The place of primary shooting photo, R are second of place for shooting photo of the mobile terminal, and O points represent the feature on marker
Point；The lens focus of the mobile terminal is f, and the distance between L and R are b, and the Lo mobile terminals take for the first time
The center of first photograph, Lx are imaging of the O points in the first phase on piece, and Ro is the second phase that the mobile terminal takes for the second time
The center of piece, Rx are imaging of the O points in the phase on piece of the second photograph；O points are to the vertical range d=b*f/ of LR lines | xL-xR|；
Wherein, xLFor abscissas of the point Lx in the first photograph, xRFor abscissas of the point Rx in the second photograph.
The method and system of the mobile terminal location of the present invention acquires image data information by mobile terminal, utilizes cloud
The storage capacity and computing capability that computing technique provides are carried out at image data preservation management and the computation-intensive image of magnanimity
Reason, the position of final determining mobile terminal, realizes the positioning based on cloud computing technology, does not need to change existing environment
It makes, the positioning of indoor and outdoor can be widely used in, and the powerful calculating provided using high in the clouds and storage capacity calculate movement
The precise location information of terminal.Compared with existing method, there is higher precision than base station location and GPS positioning and support indoor
Positioning, while avoid the unreachable problem of signal that may be present in RFID positioning and WIFI positioning.
Description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only
Some embodiments of the present invention, for those of ordinary skill in the art, without having to pay creative labor, also
Other attached drawings can be obtained according to these attached drawings.
Fig. 1 is the flow chart according to one embodiment of the method for the mobile terminal location of the present invention；
Fig. 2 is the flow chart according to another embodiment of the method for the mobile terminal location of the present invention；
Fig. 3 is the algorithm schematic diagram by the change in location of moving characteristic data computing terminal；
Fig. 4 is the principle schematic that positioning is realized using binocular stereo vision；
Fig. 5 is the schematic diagram according to one embodiment of the system of the mobile terminal location of the present invention.
Specific embodiment
The present invention is described more fully with reference to the accompanying drawings, wherein illustrating exemplary embodiment of the present invention.Under
The attached drawing that face will be combined in the embodiment of the present invention, is clearly and completely described the technical solution in the embodiment of the present invention, shows
So, described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.Based on the reality in the present invention
Apply example, those of ordinary skill in the art's all other embodiments obtained without making creative work all belong to
In the scope of protection of the invention.Various descriptions are carried out to technical scheme of the present invention with reference to each figure and embodiment.
Fig. 1 is the flow chart according to one embodiment of the method for the mobile terminal location of the present invention.As shown in Figure 1：
Step 102, mobile terminal carries out ground marker the Image Acquisition of multi-angle.
Step 103, image and photographing information are sent to cloud computing platform by mobile terminal.
Step 104, mobile terminal receives and shows the location information for the related mobile terminal that cloud computing platform returns.Cloud meter
Platform is calculated by image and photographing information and the actual parameter of combined ground marker, using binocular stereo vision positioning principle
Calculate the relative position of the mobile terminal and the surface mark object.
According to one embodiment of present invention, the photograph of surface mark object is shot simultaneously using the camera that mobile terminal carries
Record relevant photographing information.Photographing information includes：The elevation angle variation of focal length, the change in location of mobile terminal and camera.Make
The change in location of mobile terminal when taking pictures every time is obtained with the inertial sensor device built in mobile terminal.Inertial sensor device
Including：Accelerometer and gyroscope.
According to one embodiment of present invention, mobile terminal is being moved according to the location information received from cloud computing platform
In the map shown on the display screen of dynamic terminal, the position of mobile terminal is demarcated.Location information is carried by mobile terminal
Loud speaker broadcast.
According to one embodiment of present invention, between mobile terminal and cloud computing platform by 3G communication networks or WIFI without
Gauze carries out data interaction.
It according to one embodiment of present invention, can be first with coarseness positioning unit, such as GPS device, to terminal
Position carries out coarseness, required at the photograph computing terminal position sent according to terminal to reduce cloud computing platform
Calculation amount, improve positioning accuracy.
Fig. 2 is the flow chart according to another embodiment of the method for the mobile terminal location of the present invention.Cloud computing platform
The image uploaded to mobile terminal is calculated and is handled, and identifies the identity of surface mark object.Cloud computing platform is believed from map
Cease the address that surface mark object is obtained in library and practical physical message, the image data of combined ground marker and its shooting letter
Breath is compared, and calculates the relative position of mobile terminal and surface mark object, and combining cartographic information obtains the position of mobile terminal
Confidence ceases, and location information is sent to mobile terminal.Specific steps are as shown in Figure 2：
Step 201, mobile terminal utilizes self-contained image collecting device, such as camera, camera, for its institute
A certain marker in the range of shoots several photographs and records basic photographing information, such as focal length.
In the shooting process of different photographs, the placement location needs of mobile terminal change, and detect and record every time
The variation of mobile terminal, that is, lens location during shooting, for example, terminal occur displacement, the camera lens elevation angle variation etc..It is mobile whole
Image collecting device in end will to photograph and its photographing information, comprising basic photographing information and terminal location change information, into
Row preserves.
Step 202, mobile terminal will record several photographs for having marker and related photographing information is arrived via transmission of network
Cloud computing platform side.
Step 203, cloud computing platform is after several photographs that terminal is sent are received, the image first in cloud computing platform
The adjustment of terminal placement position information and amendment photographic content when processing function unit is shot according to different photographs, work here
It is the algorithms most in use in image identification, is referred to as
" registration (alignment) of image " so that different photographs can be considered and be shot in the same coordinate system, convenient for follow-up
Precise alignment and analysis to photographic content.
Step 204, the image processing function unit in cloud computing platform is to the marker content that shows in photograph, such as builds
Build beyond the region of objective existence sight, Advertisement label content etc., handled, and with by the map information handling unit in cloud computing platform from map
The cartographic information obtained in information database is compared, and identifies the identity information of marker, is that a kind of typical image is known
Other process, by the way that the information for knowing that its title, ID etc. can be identified for that its identity is identified to the content in photograph.
Step 205, the marker feature number that the image processing function unit in cloud computing platform records every width phase on piece
According to and its photographing information, such as focal length, be compared with the related physical information of the marker preserved in map information database
And analysis, it calculates and obtains physical location of the mobile terminal relative to marker, such as distance, angle etc..
Step 206, the map information handling unit in cloud computing platform combines mobile equipment and the relative position of marker
And its location information of marker and surrounding enviroment data, acquisition move the specific location that equipment is sitting in and are sent to movement and set
It is standby.
After the relative distance and relative bearing of terminal and marker is learnt on last stage, in this stage it is known that moving
The information such as longitude and latitude, the street of dynamic terminal position.
Step 207, mobile terminal receives the position data of terminal by location information receiving unit, can be demarcated at this
It is exported on the map datum that ground preserves by approach such as terminal display, loud speakers.
Fig. 3 is the algorithm schematic diagram by the change in location of moving characteristic data computing terminal.As shown in Figure 3：Pass through shifting
The core algorithm thought of the change in location of dynamic characteristic computing terminal be end coordinates system and physical space absolute coordinate system it
Between mapping.
Acceleration information acquisition device is responsible for acquiring relative to six directions such as the up, down, left, right, before and afters of terminal itself
Linear movement information, and then can be calculated terminal oneself displacement data in a coordinate system.
Angle information harvester is responsible for acquisition terminal in angle-data both vertically as well as horizontally to judge mobile terminal
Current placement posture, such as horizontal positioned, vertical placement and angle change information, and then terminal can be calculated and exist
Change in location data in physical space coordinates system.
Finally, the mobile message that terminal occurs in local Coordinate System is combined with the angle change of terminal posture, it can
Terminal displacement data is mapped in all directions of the reference axis of absolute physical coordinate system, and then obtains the empty in physics of terminal
Interior change in location.
Fig. 4 is the principle schematic that positioning is realized using binocular stereo vision.As shown in Figure 4：Cloud computing platform is using eventually
It is core algorithm that several photographs of same marker, which carry out terminal to be accurately positioned, in the location of end.It in the concrete realization, can be with
Positioning is realized using the principle of binocular stereo vision.
Binocular stereo vision positioning principle is exactly the parallax when watching object using the left eye and right eye of people, is then judged
The distance of the specific people of object.The photograph mainly successively shot twice by mobile terminal simulates the left eye and right eye of people respectively
(L and R i.e. in figure), the terminal displacement during taking pictures twice are the b in figure.In addition, the focal length f of camera lens can pass through end
End camera collects.Possess above-mentioned data, you can go out the distance of object and terminal using formula to calculating hereinafter.
L, R represents two camera lenses in left and right, and the characteristic point on point O expression markers, lens focus is f, between camera lens
Distance is b, and Lo is the center of photograph (abbreviation left side photograph, alternatively referred to as the first photograph) that left camera lens L takes, and Lx is point O
In the imaging of left side phase on piece, Ro is in the photograph (referred to as the right photograph, alternatively referred to as the second photograph) that right camera lens R takes
The heart, Rx are the imaging of point O phase on pieces on the right.According to the corner relationship of triangle, have (b- | xL-xR|)/b=(d-f)/d, warp
O points can be calculated to the vertical range d=b*f/ of LR lines by crossing conversion | xL-xR|.Wherein, xLIt is point Lx in the photograph of the left side
Abscissa, xRFor the abscissa in point Rx on the right photograph.
O points are marker, and LR is the left eye of simulated person and the line of right eye.Because people is when object is seen, object
(O points) is typically situated between two an eye line, so the vertical range d of O points to LR lines is exactly distance of the O points to people,
The distance of b can generally be obtained shorter.Similarly, d also can serve as the distance between mobile terminal and marker.
The difficult point of binocular stereo vision is the unification of several pictures setting coordinate system, i.e. L and R are needed in same benchmark
On line.This is equivalent to human eye in positioning, and the distance between the object of judgement and people are the distances of line between object and people two
Equally.The photograph that the correction of this datum line seeks to ensure repeatedly to shoot its content after being adjusted is the equal of from one
Position shooting, it is ensured that positioning accuracy.Accelerometer can judge direction and the distance of terminal movement by way of gravity sensing,
And gyroscope then can be determined that the angle that terminal turns over.
In the method for the mobile terminal location of the present invention, marker photograph needs repeatedly shooting, therefore shot every time
Journey can cause terminal location product deviation.To improve the precision of positioning, by the inertial positioning device of mobile terminal, such as accelerate
Meter, gyroscope etc. are spent, the camera site in different photograph shooting process and the difference of angle can be obtained, accelerometer can pass through
The mode of gravity sensing judges direction and the distance of terminal movement, and gyroscope then can be determined that the angle that terminal turns over, and then
The coordinate system of terminal image harvester in each shooting process is corrected and consequential amendment is carried out to picture material, is made
It obtains every width photograph to be all located in unified physical coordinates system, such as unified horizontal plane, improves positioning accuracy.
According to one embodiment of present invention, cloud computing platform is calculated mobile whole using binocular stereo vision positioning principle
End and the relative position of surface mark object, wherein：L is the place that mobile terminal shoots photo for the first time, and R is mobile terminal second
The place of secondary shooting photo, O points represent the characteristic point on marker.
The lens focus of mobile terminal is f, and the distance between L and R are b, and Lo is that mobile terminal takes for the first time
The center of one photograph, Lx are imaging of the O points in the first phase on piece, and Ro is in the second photograph that mobile terminal takes for the second time
The heart, Rx are imaging of the O points in the phase on piece of the second photograph.O points are to the vertical range d=b*f/ of LR lines | xL-xR|。xLFor point
Abscissas of the Lx in the first photograph, xRFor abscissas of the point Rx in the second photograph.
For limitation existing for the method for being currently used in implementation mobile terminal location, in the mobile terminal location of the present invention
Method in, mobile terminal by multi-angle in its site surrounding enviroment same marker carry out Image Acquisition, reason
As long as by upper position, fixed object can serve as marker for a long time, but this depends on whether all marker letters
Breath has all been collected in the cartographic information library of cloud computing platform side.Under normal circumstances, there is the building of terrestrial reference feature
It is relatively good marker selection.
Mobile terminal by image and related photographing information, wherein, be exactly mainly focus information for photograph itself.
For shooting process, the variation of terminal position during taking pictures is further included, such as camera anteroposterior position up and down
Shifting, the variation of the camera gun elevation angle etc. are uploaded to high in the clouds so that cloud computing technology to be utilized to carry out the comparative analysis of picture material.
Cloud computing platform mainly the content of shooting in image is identified using image recognition algorithm, then as
According to the information bank for inquiring backstage and and then marker relevant information is obtained, and combine the reality of the actual measurement parameter flag object of marker
Parameter is surveyed to be calculated to obtain the relative bearing and relative distance between terminal position and marker, and then with reference to map
Accurate location information is formed, and the information under high in the clouds is reached, positioning is realized on mobile terminal.
Actual measurement parameter is entered into cloud computing platform, such as height, width etc. in advance, therefore early period needs largely on the spot
Survey.It needs exist for using cloud computing technology, the preservation of mass data is mainly carried out using distributed storage technology, with
And parallel image procossing is carried out using distributed computing technology.
This method acquires image data information by mobile terminal, the storage capacity provided using cloud computing technology and calculating
Ability carries out the image data preservation management of magnanimity and computation-intensive image procossing, and the position of final determining mobile terminal is real
The positioning based on cloud computing technology is showed.
This method does not need to be transformed existing environment, can be widely used in the positioning of indoor and outdoor, and key exists
The precise location information of mobile terminal is calculated in the powerful calculating and storage capacity provided using high in the clouds.
Fig. 5 is the schematic diagram according to one embodiment of the system of the mobile terminal location of the present invention.As shown in Figure 5：It moves
The system of dynamic terminal positioning includes：Mobile terminal 51 and cloud computing platform 52.Cloud computing platform 52 includes cartographic information library, is used for
The geographical location information of surface mark object and complete marker actual measurement physical features are preserved, for example, the appearance of outstanding feature object
Feature, such as height, width, thickness, color etc..
Mobile terminal 51 is used to carry out ground marker the Image Acquisition of multi-angle, and image and photographing information are sent
To cloud computing platform.Mobile terminal 51 receives and shows the location information for the related mobile terminal locations that cloud computing platform returns.
Cloud computing platform 52 calculates the positioning of mobile terminal 51 by image and photographing information and the actual parameter of combined ground marker
Information.
According to one embodiment of present invention, mobile terminal 51 includes：Image collecting device 511 and position detecting device
512.Image collecting device 511 shoots the photograph of surface mark object.Position detecting device 512 records relevant photographing information.It claps
Information is taken the photograph to include：The elevation angle variation of focal length, the change in location of mobile terminal and camera.Position detecting device 512 includes：Accelerate
Degree meter and gyroscope.Wherein accelerometer and gyroscope obtain when taking pictures every time the change in location of the mobile terminal of mobile terminal and
The elevation angle variation of camera.
According to one embodiment of present invention, mobile terminal 51 includes location information receiving unit 513.Location information receives
Unit 513 is according to the location information received from cloud computing platform 52, the map shown on the display screen of mobile terminal 51
In, the position of calibration mobile terminal 51.
According to one embodiment of present invention, mobile terminal 51 includes network communication device 514.Network communication device 514
Data interaction is carried out by 3G communication networks or WIFI wireless networks between cloud computing platform 52.
According to one embodiment of present invention, cloud computing platform includes：Image processing unit 521 and geographic information processing list
Member 522.The image that geographic information processing unit 522 uploads mobile terminal is calculated and is handled, and identifies surface mark object
Identity.
Image processing unit 521 obtains the address of surface mark object and practical physical message, knot from cartographic information library
The image data and its photographing information for closing surface mark object compare and analyze, and calculate mobile terminal 51 and surface mark object
Relative position, and combining cartographic information obtains the location information of mobile terminal 51, and location information is sent to mobile terminal 51.Its
In, cloud computing platform is based on distributed preservation and management magnanimity mark object image and map datum, utilizes Distributed Parallel Algorithm
Carry out image procossing calculating.
According to one embodiment of present invention, image processing unit 521 is calculated using binocular stereo vision positioning principle
The relative position of mobile terminal 51 and surface mark object, wherein：L is the place that mobile terminal shoots photo for the first time, and R is movement
Second of place for shooting photo of terminal, O points represent the characteristic point on marker.The lens focus of mobile terminal for f, L and R it
Between distance for b, Lo is the center of the first photograph that mobile terminal takes for the first time, Lx for O points the first phase on piece into
Picture, Ro are the center of the second photograph that mobile terminal takes for the second time, and Rx is imaging of the O points in the phase on piece of the second photograph.O
Point arrives the vertical range d=b*f/ of LR lines | xL-xR|.Wherein, xLFor abscissas of the point Lx in the first photograph, xRFor point Rx
Abscissa in the second photograph.
The method and system of the mobile terminal location of the present invention, the marker based on image identification and cartographic information search are determined
Position, the terminal relative position based on binocular stereo vision location mechanism determine all to have storage resource and computing resource and greatly need
It asks, it is therefore desirable to which cloud computing platform provides relevant cloud computing technology and supports, cloud computing technology is mainly used for mass image data
Storage and processing.Magnanimity mark object image and map number are preserved and managed using the cloud computing platform based on distributed storage
According to using based on the frameworks such as MapReduce Distributed Parallel Algorithm progress image procossing.
(1) it for traditional relevant database the system dynamic scalability, Mass Data Management etc. the defects of, needs
To utilize the cloud computing technology of distributed storage, such as the HBase data of HDFS distributed file systems and operation thereon etc..Into
The preservation and management of row mass data.This kind of system has fully considered the demand of mass data storage in design, can utilize
The x86 framework storage servers of standardization build memory resource pool, and by distributed middleware realize storage system magnanimity,
Highly Scalable, High Availabitity, efficient processing capacity, particularly this kind of distributed data base employ the substitution of NoSQL technologies and pass
The sql like language that the relevant database of system uses, more suitable for having many characteristics, such as ultra-large, high concurrent data query and visit
It asks.
(2) process usually having for image procossing (the online image procossing particularly needed for this patent proposition method)
The features such as complicated, computation-intensive, time requirement is stringent, only will be difficult to the need for meeting image procossing by a limited number of servers
It asks, it is therefore desirable to the distributed computing technology being introduced into field of cloud calculation, such as MapReduce.This kind of emerging distributed meter
Technical backstopping is calculated on distributed memory system, there is high autgmentability, while it will generally be adopted in traditional calculations pattern
The calculation that data are pulled to computing unit is changed to push calculating to storage unit, so as to be highly suitable for image procossing
To the processing of mass image data in algorithm.
In the image recognition processes based on cloud computing, and image data is that magnanimity is then relatively solid to the operation of image
Fixed, if still as traditional calculating pattern, image data is pushed to computing unit, and (such as data are needed step by step via magnetic
The memory mechanisms such as disk, memory, caching, register can be just ultimately processed), then very big performance cost can be caused.And such as
Limited relatively-stationary calculating process is pushed on data storage cell by fruit, then just it is avoided that the movement of mass data,
Improve performance.
The method and system of the present invention may be achieved in many ways.For example, can by software, hardware, firmware or
Software, hardware, firmware any combinations come realize the present invention method and system.The said sequence of the step of for method is only
In order to illustrate, the step of method of the invention, is not limited to sequence described in detail above, especially says unless otherwise
It is bright.In addition, in some embodiments, the present invention can be also embodied as recording program in the recording medium, these programs include
It is used to implement machine readable instructions according to the method for the present invention.Thus, the present invention also covering storage is for execution according to this hair
The recording medium of the program of bright method.
Description of the invention provides for the sake of example and description, and is not exhaustively or will be of the invention
It is limited to disclosed form.Many modifications and variations are obvious for the ordinary skill in the art.It selects and retouches
It states embodiment and is to more preferably illustrate the principle of the present invention and practical application, and those of ordinary skill in the art is enable to manage
The solution present invention is so as to design the various embodiments with various modifications suitable for special-purpose.
Claims (10)
- A kind of 1. method of mobile terminal location, which is characterized in that including：Mobile terminal carries out ground marker the Image Acquisition of multi-angle；Wherein, the camera shooting carried using the mobile terminal Head shoots the photograph of the surface mark object and records relevant photographing information；Image and photographing information are sent to cloud computing platform by mobile terminal；The mobile terminal receives and shows the location information for the related mobile terminal that the cloud computing platform returns；Wherein, the cloud computing platform is by described image and photographing information and with reference to the physics of the surface mark object reality And location parameter, the opposite position of the mobile terminal and the surface mark object is calculated using binocular stereo vision positioning principle It puts, specially：L is the place that the mobile terminal shoots photo for the first time, and R shoots the place of photo, O for the mobile terminal for the second time Point represents the characteristic point on marker；The lens focus of the mobile terminal is f, and the distance between L and R are b, and Lo takes for the first time for the mobile terminal The first photograph center, Lx be O points the first phase on piece imaging, Ro be the mobile terminal take for the second time second The center of photograph, Rx are imaging of the O points in the phase on piece of the second photograph；O points are to the vertical range d=b*f/ of LR lines | xL-xR|；Wherein, xLFor abscissas of the point Lx in the first photograph, xRFor Abscissas of the point Rx in the second photograph.
- 2. the method as described in claim 1, it is characterised in that：The photographing information includes：The elevation angle variation of focal length, the change in location of mobile terminal and camera；The change in location of mobile terminal when taking pictures every time is obtained using the inertial sensor device built in the mobile terminal；Its In, the inertial sensor device includes：Accelerometer and gyroscope.
- 3. method as claimed in claim 2, it is characterised in that：The mobile terminal is according to the location information received from the cloud computing platform, in the display of the mobile terminal In the map shown on screen, the position of the mobile terminal is demarcated；The location information is broadcasted by the loud speaker that the mobile terminal carries.
- 4. method as claimed in claim 3, it is characterised in that：Data interaction is carried out by 3G communication networks or WIFI wireless networks between the mobile terminal and the cloud computing platform.
- 5. method as claimed in claim 2, it is characterised in that：The image that the cloud computing platform uploads the mobile terminal is calculated and is handled, and identifies the surface mark Object；The cloud computing platform obtains the address of the surface mark object and practical physical message from cartographic information library, with reference to The image data and its photographing information of the surface mark object are compared, and calculate the mobile terminal and the surface mark The relative position of object, and combining cartographic information obtains the location information of the mobile terminal, the location information is sent to described Mobile terminal；The cloud computing platform is based on distributed preservation and management magnanimity mark object image and map datum, utilizes distributed parallel Algorithm carries out image procossing calculating.
- 6. a kind of system of mobile terminal location, which is characterized in that including：Mobile terminal and cloud computing platform；The mobile terminal is used to carry out ground marker the Image Acquisition of multi-angle, and image and photographing information are sent to Cloud computing platform；Wherein, shown mobile terminal includes：Image collecting device and position detecting device；Described image harvester Shoot the photograph of the surface mark object；The position detecting device records relevant photographing information；The mobile terminal receives and shows the location information for the related mobile terminal locations that the cloud computing platform returns；The cloud computing platform is by described image and photographing information and the physics with reference to the surface mark object reality and position Parameter calculates the relative position of the mobile terminal and the surface mark object using binocular stereo vision positioning principle；The cloud computing platform includes：Image processing unit, described image processing unit use binocular stereo vision positioning principle The relative position of the mobile terminal and the surface mark object is calculated, wherein：L for the mobile terminal, shine for the first time by shooting The place of piece, R are second of place for shooting photo of the mobile terminal, and O points represent the characteristic point on marker；The lens focus of the mobile terminal is f, and the distance between L and R are b, and Lo takes for the first time for the mobile terminal The first photograph center, Lx be O points the first phase on piece imaging, Ro be the mobile terminal take for the second time second The center of photograph, Rx are imaging of the O points in the phase on piece of the second photograph；O points are to the vertical range d=b*f/ of LR lines | xL-xR|；Wherein, xLFor abscissas of the point Lx in the first photograph, xRFor abscissas of the point Rx in the second photograph.
- 7. system as claimed in claim 6, it is characterised in that：The photographing information includes：The elevation angle variation of focal length, the change in location of mobile terminal and camera；The position detecting device includes：Accelerometer and gyroscope；Wherein described accelerometer and gyroscope obtain to be clapped every time According to when mobile terminal mobile terminal change in location and camera the elevation angle change.
- 8. system as claimed in claim 7, it is characterised in that：The mobile terminal includes location information receiving unit；The location information receiving unit is according to the location information received from the cloud computing platform, described mobile whole In the map shown on the display screen at end, the position of the mobile terminal is demarcated.
- 9. system as claimed in claim 8, it is characterised in that：The mobile terminal includes network communication device；Data friendship is carried out by 3G communication networks or WIFI wireless networks between the network communication device and the cloud computing platform Mutually.
- 10. system as claimed in claim 8, it is characterised in that：The cloud computing platform includes：Geographic information processing unit；The image that the geographic information processing unit uploads the mobile terminal is calculated and is handled, and identifies surface mark The identity of object；Described image processing unit obtains the address of the surface mark object and practical physical message, knot from cartographic information library The image data and its photographing information for closing the surface mark object compare and analyze, calculate the mobile terminal with describedly The relative position of face marker, and combining cartographic information obtains the location information of the mobile terminal, and the location information is sent To the mobile terminal；Wherein, the cloud computing platform is based on distributed preservation and management magnanimity mark object image and map datum, utilizes distribution Formula parallel algorithm carries out image procossing calculating.
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