CN103995888A - Path guide information expressing method and device based on live-action - Google Patents
Path guide information expressing method and device based on live-action Download PDFInfo
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- CN103995888A CN103995888A CN201410241712.2A CN201410241712A CN103995888A CN 103995888 A CN103995888 A CN 103995888A CN 201410241712 A CN201410241712 A CN 201410241712A CN 103995888 A CN103995888 A CN 103995888A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3626—Details of the output of route guidance instructions
- G01C21/3632—Guidance using simplified or iconic instructions, e.g. using arrows
Abstract
The invention relates to a path guide information expressing method and device based on live-action. The method includes the following steps that matching correlation preprocessing is carried out on a live-action point and a two-dimensional road network; according to navigation steering guide information, guide point information, road entering information and road exiting information are determined; the longitude and latitude coordinates of a live-action observation point are calculated according to longitude and latitude coordinates of a guide point; according to the calculated longitude and latitude coordinates of the live-action observation point, a live-action picture of the coordinate position is obtained from a live-action data base; the back-projection pixel coordinate position, on a live-action guide picture, of the guide point is calculated; according to the back-projection position, the display angle of the live-action guide picture is calculated; the picture back-projection positions of a road entering shape point and a road exiting shape point are calculated, and then guide back-projection information of a road is marked in an arrow form according to the traveling direction. The path guide information expressing method and device provide more accurate navigation information indications for a user and can ensure that marking information is accurately marked on the correct road.
Description
Technical field
The present invention relates to auto navigation field, relate in particular to a kind of Route guiding information expression method and device based on outdoor scene.
Background technology
Current navigation product, in the process of crossing guiding, often use the form of analog designation enlarged drawing, but the guiding simulation drawing identification of a lot of complex crossings is not high, does not reach good guiding effect yet.And the form of real picture aspect validity, have without language opinion than advantage, almost in full accord with actual environment, but how on real picture, presenting crossing guiding directional information is the most important step that realizes outdoor scene guiding, and outdoor scene guiding also exists real picture cannot show clearly the excessive problem of road deviation on crossing overall picture and guiding arrow and real picture comprehensively.Object of the present invention is exactly not comprehensive, unintelligible in order to solve crossing demonstration, and guiding arrow does not have the problem of reasonable gland on picture road, thereby it is reasonable to realize real picture crossing clear display, and guiding arrow is the anti-effect of outdoor scene guiding accurately of throwing on road.
Summary of the invention
Technical matters to be solved by this invention is: the path of navigation of two dimension is how on the correct anti-corresponding road of throwing in real picture, gives user with the guidance information of reality more.
The present invention solves the problems of the technologies described above adopted technical scheme: a kind of Route guiding information expression method based on outdoor scene, comprises the following steps:
1) latitude and longitude coordinates while gathering according to real picture and the headstock directional information of collection point, mate associated pre-service to outdoor scene point with two-dimentional road net;
2) according to navigation, turn to guidance information, determine pilot point information, and enter road and exit road information;
3) according to the latitude and longitude coordinates of pilot point, calculate outdoor scene observation point latitude and longitude coordinates;
4), according to the outdoor scene observation point latitude and longitude coordinates calculating, from outdoor scene database, obtain the real picture of this coordinate position;
5), according to the latitude and longitude coordinates of latitude and longitude coordinates, picture collection attitude information and the pilot point of outdoor scene guiding picture, calculate the anti-throwing pixel coordinate position of pilot point on outdoor scene guiding picture; Described picture collection attitude information comprises the horizontal direction angle of headstock direct north angle when outdoor scene gathers;
6), according to the anti-throwing position of pilot point, calculate outdoor scene guiding Image Display angle;
Specific as follows: the center of the anti-location of pixels of throwing of this pilot point being adjusted to Image Display, according to the adjustment pixel value difference of this location of pixels, can calculate real picture and horizontally rotate angle, more finally calculate according to the acquisition angles of this angle and this real picture the direct north angle that real picture shows.
7) calculate the anti-position of throwing of picture that enters road shape point and exit road shape point, then according to travel direction, with the form of arrow, indicate the anti-Investment Trust breath of guiding of road.
Press such scheme, described step 3) in, the concrete conversion method of the anti-throwing pixel coordinate of pilot point on outdoor scene guiding picture adopts following formula:
Press such scheme, described step 6) in, the method of calculating outdoor scene guiding Image Display angle is specific as follows: the center of the anti-location of pixels of throwing of this pilot point being adjusted to Image Display, according to the adjustment pixel value difference of this location of pixels, can calculate real picture and horizontally rotate angle, more finally calculate according to the acquisition angles of this angle and this real picture the direct north angle that real picture shows.
The present invention also provides a kind of Route guiding information representation device based on outdoor scene, comprising:
Outdoor scene point pretreatment unit, the latitude and longitude coordinates when gathering according to real picture and the headstock directional information of collection point, mate associated pre-service to outdoor scene point with two-dimentional road net;
Pilot point information determining unit, for turning to guidance information according to navigation, determines pilot point information, and enters road and exit road information;
Outdoor scene observation point coordinate computing unit, for calculating outdoor scene observation point latitude and longitude coordinates according to the latitude and longitude coordinates of pilot point;
The anti-unit of throwing of pilot point, for according to the latitude and longitude coordinates of latitude and longitude coordinates, picture collection attitude information and the pilot point of outdoor scene guiding picture, calculates the anti-throwing pixel coordinate position of pilot point on outdoor scene guiding picture; Described picture collection attitude information comprises the horizontal direction angle of headstock direct north angle when outdoor scene gathers;
Outdoor scene guiding Image Display angle determining unit, for according to the anti-throwing position of pilot point, calculates outdoor scene guiding Image Display angle;
The anti-unit of throwing of road guiding, for calculating the anti-position of throwing of the picture that enters road shape point and exit road shape point, then according to travel direction, indicates the anti-Investment Trust breath of guiding of road with the form of arrow.
The beneficial effect that the present invention produces is:
1. the present invention instead throws on real picture by pilot point, for user provides more accurate navigation information;
2. the anti-Investment Trust breath of guiding that the form with arrow of the present invention indicates road, can guarantee not deviating road of beacon information, and can the in the situation that of Multi-layer road, be labeled in accurately on correct road.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing:
Fig. 1 is the method flow diagram of the embodiment of the present invention;
Fig. 2 is embodiment of the present invention outdoor scene point and the optimal match point schematic diagram on this road;
Fig. 3 is that embodiment of the present invention outdoor scene point mates associated pre-service schematic diagram with two-dimentional road net;
Fig. 4 is that the embodiment of the present invention is determined outdoor scene observation point schematic diagram;
Fig. 5 is the anti-design sketch of throwing of embodiment of the present invention outdoor scene.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearer, below in conjunction with embodiment, the present invention is further elaborated.Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not intended to limit the present invention.
As shown in Figure 1, the inventive method is to calculate in real time real picture and the guiding anti-position of throwing of outdoor scene according to guidance information to the inventive method flow process:
(1) outdoor scene point mates associated pre-treatment step with two-dimentional road net;
The headstock directional information of the latitude and longitude coordinates while gathering according to real picture and collection point, mates associated pre-service to outdoor scene point with two-dimentional road net;
Choosing of optimal match point: outdoor scene point mates thresholding with tangible section of peripheral path institute and calculates, and the point of thresholding minimum is optimal match point.
Outdoor scene point A not only has latitude and longitude coordinates information, and comprises headstock directional information.Calculate the optimal match point of A on road, need to calculate respectively mapping position and the coupling thresholding of A in road form point section 1,2,3.First find A o'clock mapping point and the mapping distance on 1,2,3 three line segment, mapping point is closest approach, as shown in Figure 2:
A, b, tri-points of c are the mapping point of A point on line segment 1,2,3, next step calculates the thresholding of mating of a, b, tri-points of c to the distance of these 3 points and A point headstock direction and the angle of 1,2,3 three line segment according to A, coupling thresholding computing formula is as follows: coupling thresholding=(apart from * apart from weights)+(angle * angle weights).For example, by this formula, calculate the coupling thresholding minimum that c is ordered, we are the optimal match point of outdoor scene point A on this road by using c point so.After coupling, schematic diagram as shown in Figure 3.
(2) according to navigation, turn to guidance information, determine pilot point information, and enter road and the step that exits road information;
(3) calculate the step of outdoor scene observation point.
Take pilot point latitude and longitude coordinates as initial point, and shape and the current point (distance is calculated as the ground distance computing of latitude and longitude coordinates) of calculating 15 meters (all can select between 10 to 20 meters) in the other direction according to entering road, be defined as outdoor scene observation point.As shown in Figure 4.
(4) according to the outdoor scene observation point latitude and longitude coordinates calculating, from outdoor scene database, obtain the real picture of this coordinate position, this real picture is as outdoor scene guiding picture.
(5) pilot point anti-pixel coordinate position of throwing on outdoor scene guiding picture in crossing is calculated;
According to the latitude and longitude coordinates of the latitude and longitude coordinates of outdoor scene guiding picture, picture collection attitude information (the horizontal direction angle that mainly comprises the headstock direct north angle while gathering) and pilot point, calculate the anti-throwing pixel coordinate position of pilot point on outdoor scene guiding picture.
According to the difference between panoramic coordinates and mark coordinate, convert and obtain volume coordinate;
If current panorama point longitude and latitude is StationInfo.L, StationInfo.B, the longitude and latitude of mark is minfo.lon, minfo.lat; Mark height WeiH(unit: rice)
Volume coordinate
x?=?(minfo.lon?-?StationInfo.L)*111000;
y?=?(minfo.lat?-?StationInfo.B)*111000;
According to the X trying to achieve, Y and known mark height H, be the volume coordinate of mark, obtains the pilot point that the needs anti-throwing pixel coordinate on outdoor scene guiding picture;
(6) outdoor scene guiding Image Display angle calculation;
In step (5), the anti-throwing position of definite pilot point, in order to reach better guiding display effect, this anti-location of pixels of throwing need to be adjusted to the center of Image Display, according to the adjustment pixel value difference of this location of pixels, can calculate real picture and horizontally rotate angle, more finally calculate according to the acquisition angles of this angle and this real picture the direct north angle that real picture shows.
Difference by between panoramic coordinates and mark coordinate, is scaled horizontal view angle yaw value by trigonometric function.
whereina kind of circular is as follows:
var?yaw:Number?=?Math.atan2(x,y);
var?pitch:Number?=?Math.atan2(minfo.h,(x/Math.sin(yaw)));
yaw?=?yaw*180/Math.PI?;
pitch?=?pitch*180/Math.PI?;
yaw?+=?minfo.offsetYaw;
pitch?+=?minfo.offsetPitch;
if(yaw<0)
{
yaw?=?360?+?yaw;
}
yaw?=?yaw%360;
pitch?=?pitch?>?90?90:pitch;
pitch?=?pitch?<?-90?-90:pitch;
minfo.vp?=?new?ViewPoint(yaw,pitch,0);
X wherein, y is the anti-throwing pixel coordinate of the pilot point that obtains of above-mentioned steps on outdoor scene guiding picture; Yaw is horizontal view angle, and it is direct north that scope is at 0 ~ 359,0; Pitch is pitching visual angle, and it is horizontal direction that scope is at 0 ~ 359,0.
(7) entering road calculates with the anti-throwing of exiting road;
Conversion account form according to above-mentioned latitude and longitude coordinates to picture pixel coordinate, can also calculate the anti-position of throwing of picture that enters road shape point and exit road shape point, again according to travel direction, with the form of arrow, indicate the anti-Investment Trust breath of guiding of road, thereby realize outdoor scene guiding effect.As shown in Figure 5.
The present invention also provides a kind of Route guiding information representation device based on outdoor scene, comprising:
Outdoor scene point pretreatment unit, the latitude and longitude coordinates when gathering according to real picture and the headstock directional information of collection point, mate associated pre-service to outdoor scene point with two-dimentional road net;
Pilot point information determining unit, for turning to guidance information according to navigation, determines pilot point information, and enters road and exit road information;
Outdoor scene observation point coordinate computing unit, for calculating outdoor scene observation point latitude and longitude coordinates according to the latitude and longitude coordinates of pilot point;
The anti-unit of throwing of pilot point, for according to the latitude and longitude coordinates of latitude and longitude coordinates, picture collection attitude information and the pilot point of outdoor scene guiding picture, calculates the anti-throwing pixel coordinate position of pilot point on outdoor scene guiding picture; Described picture collection attitude information comprises the horizontal direction angle of headstock direct north angle when outdoor scene gathers;
Outdoor scene guiding Image Display angle determining unit, for according to the anti-throwing position of pilot point, calculates outdoor scene guiding Image Display angle;
The anti-unit of throwing of road guiding, for calculating the anti-position of throwing of the picture that enters road shape point and exit road shape point, then according to travel direction, indicates the anti-Investment Trust breath of guiding of road with the form of arrow.
Should be understood that, for those of ordinary skills, can be improved according to the above description or convert, and all these improvement and conversion all should belong to the protection domain of claims of the present invention.
Claims (4)
1. the Route guiding information expression method based on outdoor scene, is characterized in that, comprises the following steps:
1) latitude and longitude coordinates while gathering according to real picture and the headstock directional information of collection point, mate associated pre-service to outdoor scene point with two-dimentional road net;
2) according to navigation, turn to guidance information, determine pilot point information, and enter road and exit road information;
3) according to the latitude and longitude coordinates of pilot point, calculate outdoor scene observation point latitude and longitude coordinates;
4), according to the outdoor scene observation point latitude and longitude coordinates calculating, from outdoor scene database, obtain the real picture of this coordinate position;
5), according to the latitude and longitude coordinates of latitude and longitude coordinates, picture collection attitude information and the pilot point of outdoor scene guiding picture, calculate the anti-throwing pixel coordinate position of pilot point on outdoor scene guiding picture; Described picture collection attitude information comprises the horizontal direction angle of headstock direct north angle when outdoor scene gathers;
6), according to the anti-throwing position of pilot point, calculate outdoor scene guiding Image Display angle;
7) calculate the anti-position of throwing of picture that enters road shape point and exit road shape point, then according to travel direction, with the form of arrow, indicate the anti-Investment Trust breath of guiding of road.
2. Route guiding information expression method according to claim 1, it is characterized in that, described step 6) in, the method of calculating outdoor scene guiding Image Display angle is specific as follows: the center of the anti-location of pixels of throwing of this pilot point being adjusted to Image Display, according to the adjustment pixel value difference of this location of pixels, can calculate real picture and horizontally rotate angle, more finally calculate according to the acquisition angles of this angle and this real picture the direct north angle that real picture shows.
3. the Route guiding information representation device based on outdoor scene, is characterized in that, comprising:
Pilot point information determining unit, for turning to guidance information according to navigation, determines pilot point information, and enters road and exit road information;
Outdoor scene observation point coordinate computing unit, for calculating outdoor scene observation point latitude and longitude coordinates according to the latitude and longitude coordinates of pilot point;
The anti-unit of throwing of pilot point, for according to the latitude and longitude coordinates of latitude and longitude coordinates, picture collection attitude information and the pilot point of outdoor scene guiding picture, calculates the anti-throwing pixel coordinate position of pilot point on outdoor scene guiding picture; Described picture collection attitude information comprises the horizontal direction angle of headstock direct north angle when outdoor scene gathers;
Outdoor scene guiding Image Display angle determining unit, for according to the anti-throwing position of pilot point, calculates outdoor scene guiding Image Display angle;
The anti-unit of throwing of road guiding, for calculating the anti-position of throwing of the picture that enters road shape point and exit road shape point, then according to travel direction, indicates the anti-Investment Trust breath of guiding of road with the form of arrow.
4. Route guiding information representation device according to claim 3, is characterized in that, also comprises:
Outdoor scene point pretreatment unit, the latitude and longitude coordinates when gathering according to real picture and the headstock directional information of collection point, mate associated pre-service to outdoor scene point with two-dimentional road net.
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| CN104159036A (en) * | 2014-08-26 | 2014-11-19 | 惠州Tcl移动通信有限公司 | Display method and shooting equipment of image direction information |
| CN104359487A (en) * | 2014-11-13 | 2015-02-18 | 沈阳美行科技有限公司 | Real scene navigation system |
| CN105526946A (en) * | 2015-12-07 | 2016-04-27 | 清华大学苏州汽车研究院（吴江） | Vehicle navigation system for road scene and driving guide fusion display |
| CN108106628A (en) * | 2016-11-25 | 2018-06-01 | 沈阳美行科技有限公司 | Method and device for generating guide prompt identifier |
| CN108225331A (en) * | 2018-01-09 | 2018-06-29 | 四川西谷物联科技有限公司 | Air navigation aid, device and electronic equipment |
| CN108592939A (en) * | 2018-07-11 | 2018-09-28 | 维沃移动通信有限公司 | A kind of air navigation aid and terminal |
| CN108896067A (en) * | 2018-03-23 | 2018-11-27 | 江苏泽景汽车电子股份有限公司 | A kind of dynamic display method and device for vehicle-mounted AR navigation |
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| CN104159036A (en) * | 2014-08-26 | 2014-11-19 | 惠州Tcl移动通信有限公司 | Display method and shooting equipment of image direction information |
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