CN104378735A - Indoor positioning method, client side and server - Google Patents
Indoor positioning method, client side and server Download PDFInfo
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- CN104378735A CN104378735A CN201410643391.9A CN201410643391A CN104378735A CN 104378735 A CN104378735 A CN 104378735A CN 201410643391 A CN201410643391 A CN 201410643391A CN 104378735 A CN104378735 A CN 104378735A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
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- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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Abstract
The invention discloses an indoor positioning method, a client side, a server and a system. The indoor positioning method comprises the steps that indoor positioning images photographed by a user through a terminal device and sensor positioning data of the terminal device in the photographing process are obtained, the positioning images and the sensor positioning data are sent to the server so that the server can position the user according to the positioning images and the sensor positioning data, and a positioning result returned by the server is received.
Description
Technical field
The present invention relates to mobile positioning technique field, particularly relate to a kind of indoor orientation method, client and server.
Background technology
Deepening continuously and developing along with general fit calculation research, and more application needs the positional information knowing target, location Based service receives increasing concern.The indoor positioning problem accompanied with it have also been obtained the attention of people.
Along with the continuous progress of society, the high building in city is constantly rised sheer from level ground, and the time of people's daily life will be spent more and more in indoor environment, also further urgent to the demand of accurate convenient indoor positioning service.The main application scenarios of such as indoor positioning comprises the indoor navigation (as airport, megastore and museum etc.) of complex building, the accurate input, service social networks function etc. based on the general fit calculation (as crowd's perception) in geographical position, the security monitoring relevant to positional information, advertisement.
Mostly existing indoor positioning technologies is based on radio frequency signal, main thought adopts extra fixed reference label (or being called assisted tag), these reference label are use as a reference point in this navigation system, by reference to comparing between the signal strength values put and the signal strength values of label to be positioned, calculate the coordinate of label to be positioned.And in actual environment, due to walking about of indoor complex environment structure and people, the reflection of wireless signal, refraction can be caused and absorbed, causing the propagation of wireless signal to have uncertainty, thus be difficult to accurately locate indoor location.
Summary of the invention
In view of this, the object of the invention is to propose a kind of indoor orientation method, client and server, can indoor accurate position be realized.
For reaching this object, the present invention by the following technical solutions:
The present invention discloses a kind of indoor orientation method, comprising:
The location sensors of described terminal equipment when the indoor positioning picture that acquisition user uses terminal equipment to take and shooting;
Described location picture and described location sensors are sent to server, to make described server according to described location picture and orientation, described location sensors consumer positioning place;
The positioning result that reception server returns.
Further, described server, according to described location picture and orientation, described location sensors consumer positioning place, comprising:
Location sensors described in described whois lookup database matching, obtains initial alignment scenario candidate collection;
Concentrate coupling described location picture in described initial alignment scenario candidate, determine orientation, user place.
Further, described concentrating in described initial alignment scenario candidate mates described location picture, determines orientation, user place, comprising:
Determine user's photographed scene and corresponding 3D model;
Adopt the orientation of SFM technique computes user in 3D model;
Orientation in 3D model converted to orientation physically by Coordinate Conversion.
Further, described determine orientation, user place after, also comprise:
The data in described database are upgraded according to described location picture and described location sensors.
Further, after orientation, described display user place, also comprise:
Receive the target location of user's input, and described target location is sent to described server, calculate according to described orientation, user place and described target location the optimal path that described user reaches described target location to make described server, return navigation information to client, described navigation information comprises described optimal path;
Receive the navigation information that described server returns.
The present invention also discloses a kind of client, comprising:
Acquisition module, the location sensors of described terminal equipment during for obtaining indoor positioning picture and shooting that user uses terminal equipment to take;
First sending module, for described location picture and described location sensors are sent to server, to make described server according to described location picture and orientation, described location sensors consumer positioning place;
First receiver module, for receiving the positioning result that described server returns.
Further, described first receiver module, also for after the described positioning result that returns at reception server, receives the target location of user's input, receives the navigation information that described server returns;
Described first sending module, also for described target location is sent to described server, calculate according to described orientation, user place and described target location the optimal path that described user reaches described target location to make described server, return navigation information to client, described navigation information comprises described optimal path.
Further, also comprise the indoor scene associated with described optimal path in described navigation information and locate picture.
The present invention also discloses a kind of server, comprising:
Second receiver module, for receiving location picture and the location sensors of the transmission of described client, described location picture is user's indoor picture of using terminal equipment take that described client obtains, and described location sensors is the location sensors of the described user of described client acquisition described terminal equipment when taking;
Locating module, for according to described location picture and orientation, described location sensors consumer positioning place;
Second sending module, for described client restoring to normal position result, receives described positioning result to make described client.
Further, described locating module, specifically for determining user's photographed scene and corresponding 3D model; Adopt the orientation of SFM technique computes user in 3D model; Orientation in 3D model converted to orientation physically by Coordinate Conversion.
The present invention utilizes shooting or the camera function of terminal equipment, the location sensors produced when obtaining taking pictures for the indoor picture of locating and terminal equipment of user's shooting by client, and this location picture and location sensors are sent to server, utilize server according to this location picture and orientation, location sensors consumer positioning place.By using indoor positioning picture and location sensors to carry out indoor positioning, and not by the restriction of indoor wireless radio frequency signal strength signal intensity, make indoor positioning more accurate.
Accompanying drawing explanation
Fig. 1 is the indoor orientation method schematic flow sheet that the specific embodiment of the invention 1 provides;
Fig. 2 is the indoor orientation method schematic flow sheet that the specific embodiment of the invention 2 provides;
Fig. 3 is that zoom factor method schematic diagram estimated by the 3D model that carries out that the specific embodiment of the invention 2 provides;
Fig. 4 a, 4b are that the K-Edges algorithm that utilizes that the specific embodiment of the invention 2 provides carries out 3D model estimation rotation parameter emulation schematic diagram;
Fig. 5 a, 5b are that translation reference point emulation schematic diagram estimated by the 3D model that carries out that the specific embodiment of the invention 2 provides;
Fig. 6 is the indoor orientation method schematic flow sheet that the specific embodiment of the invention 3 provides;
Fig. 7 is the client terminal structure schematic diagram that the specific embodiment of the invention 4 provides;
Fig. 8 is the server architecture schematic diagram that the specific embodiment of the invention 5 provides;
Fig. 9 is the system configuration schematic diagram that the specific embodiment of the invention 6 provides.
Embodiment
Improve below in conjunction with accompanying drawing and by embodiment and technical scheme of the present invention is described.Be understandable that, specific embodiment described herein is only for explaining the present invention, but not limitation of the invention.It also should be noted that, for convenience of description, illustrate only part related to the present invention in accompanying drawing but not full content.
It should be noted that, the main application scenarios of the indoor orientation method that the embodiment of the present invention proposes, client, server and system includes but not limited to following scene: the indoor navigation (as airport, megastore and museum etc.) of complex building, accurate input, service social networks function etc. based on the general fit calculation (as crowd's perception) in geographical position, the security monitoring relevant to positional information, advertisement.
Fig. 1 is the indoor orientation method schematic flow sheet that the specific embodiment of the invention 1 provides, and as shown in Figure 1, comprises the steps:
The location sensors of this terminal equipment when the indoor positioning picture that S101, acquisition user use terminal equipment to take and shooting.
Concrete, the executive agent of the embodiment of the present invention is install applications client on the terminal device, and terminal equipment here preferably possesses the mobile terminal device of shooting or camera function, such as Ipad, iphone, regular handset, notebook computer etc.When user is in a unfamiliar indoor environment, when not knowing orientation residing for oneself, then need to locate oneself orientation, place, now can use the terminal equipment such as mobile phone oneself carried with, to an around comparatively significant interior architecture such as shop trade mark, placard, road sign etc., take pictures, and obtain location sensors when taking pictures on terminal equipment.Location sensors can be compass direction and WIFI signal intensity.
S102, this location picture and this location sensors are sent to server, to make this server according to location picture and orientation, location sensors consumer positioning place.
Concrete, client is after getting location picture and location sensors, this location picture and location sensors are uploaded onto the server, to make server according to this location picture and this orientation, location sensors consumer positioning place, and to this client restoring to normal position result.
The positioning result that S103, reception server return.
Concrete, the positioning result that client reception server returns, comprises orientation, user place in this positioning result, this result can be presented on the screen of terminal equipment by client, also can inform user by the mode of voice.
The embodiment of the present invention utilizes shooting or the camera function of terminal equipment, the location sensors produced when obtaining taking pictures for the indoor picture of locating and terminal equipment of user's shooting by client, and this location picture and location sensors are sent to server, utilize server according to this location picture and orientation, location sensors consumer positioning place.Indoor positioning is carried out by using indoor positioning picture and location sensors, and not by the restriction of indoor wireless radio frequency signal strength signal intensity, make indoor positioning more accurate, and the geographical position observing oneself that the terminal equipment that user can be made to utilize oneself to carry with is real-time.
Fig. 2 is the indoor orientation method schematic flow sheet that the specific embodiment of the invention 2 provides, and as shown in Figure 2, comprises the steps:
The location sensors of this terminal equipment when the indoor positioning picture that S201, client acquisition user uses terminal equipment to take and shooting.
This location picture and this location sensors are sent to server by S202, client.
S203, this location sensors of whois lookup database matching, obtain initial alignment scenario candidate collection.
Concrete, if the database size being used for storing indoor scene picture is huge, indoor scene One's name is legion, so only carry out images match to location picture and carry out pinpoint words to user, the expense of image procossing reduces greatly by making the availability of system.Therefore the embodiment of the present invention proposes multi-modal indoor positioning, namely before carrying out images match to location picture, first determines an initial alignment scenario candidate collection, reduces the data volume of matching image, thus considerably reduce the search volume of images match.
Before this step of execution, need to set up a database in advance, be used for storage sensor locator data, location sensors is preferably compass direction and WIFI signal intensity here.When user takes indoor scene, while obtaining image, record the sensing data of this moment terminal equipment, such as compass direction and WIFI signal intensity.By the some groups of compass directions about this scene and WIFI signal intensity data, for this scene generates a compass data Gaussian Distribution Parameters and WIFI signal fingerprint.So when user carries out actual location, will first coupling and the location WIFI signal intensity simultaneously uploaded of picture and compass data, obtain the less alternate scenes set of scale and initial alignment scenario candidate collection.The method recycling images match afterwards carries out fine-grained accurate location.
S204, server concentrate this location picture of coupling in initial alignment scenario candidate, determine orientation, user place.
Concrete, before this step of execution, need to set up a 3D model database in advance, by feature extraction and the 3D Model Matching of locating picture, fine-grained location and direction estimation are carried out to user.3D model can adopt following method to set up: utilize intelligent perception namely to give the pattern of pattern and businessman's active upload indoor positioning picture of necessarily rewarding to set up initial database for initiatively participating in the user uploading indoor positioning picture.Concrete, by following steps, just a scene can be added in database easily:
A, user stretch left hand and are uploaded to database to this scene capture one location picture;
B, user stretch the right hand and are uploaded to database to another Zhang Dingwei picture of this scene capture;
C, encouragement user repeat step 1 and 2 operation several times, also directly can enter step D;
D, user point out that in electronic plane figure photographed scene sectional drawing is uploaded to database;
The arm that E, user input oneself is opened up or height.
Through these shirtsleeve operations above, just can add in database by a scene, picture above-mentioned to these afterwards processes, for this scene sets up a simple 3D model.In the system starting stage, this 3D model is limited to picture number, is not very accurate, but by assist location and image recognition, has enough obtained the rough orientation of user.Increasing afterwards along with uploading data, by the continuous renewal of database, constantly revises and upgrades 3D model, then can obtain higher positioning precision.Such as, after user positions inquiry, the 3D model training that the location picture uploaded joins this scene is concentrated, thus obtain one about the more accurate 3D model of this scene.And user often selects significant indoor scene and takes, the location picture that these scenes are uploaded is also naturally more, and the model of these scenes is also thereupon more accurate.
Concrete, server determines user's photographed scene and corresponding 3D model according to indoor positioning picture, adopt the orientation of SFM technique computes user in 3D model, the orientation in 3D model converted to orientation physically by Coordinate Conversion, thus determine orientation, user actual place.
Because the orientation in the 3D model that obtained by SFM is an opposed configuration about this scene.This structure also needs the orientation in 3D model to be converted to orientation physically through Coordinate Conversion, thus for indoor positioning.Wherein Coordinate Conversion comprises convergent-divergent, rotation and translation.As shown in Figure 3, the embodiment of the present invention is adopted and is carried out estimation zoom factor with the following method:
Zoom factor is estimated adopt following formula one or formula two to transform into an optimization problem:
Formula one:
Subject to
Formula two:
Subject to
Wherein
the coordinate of the i-th couple location picture in 3D model vertical view about this scene respectively.When taking this location picture, the compass reading of the transducer of terminal equipment is respectively
with
with
be respectively the error of two readings.The coordinate of photographed scene in 3D model is (a, b), S
irepresent and take this to when locating picture, the absolute physical distances between two location pictures, s represents the arm exhibition of user,
be two location picture between distance and the exhibition of user's arm between error, λ is the zoom factor that will try to achieve.
with
be respectively the absolute physical distance of spot for photography to captured object of two location pictures.
The embodiment of the present invention is adopted and is carried out estimation rotation parameter with the following method:
To find the entrance of certain scene, as shown in fig. 4 a, wherein abscissa represents the x coordinate position of user in 3D model, wherein ordinate represents the y coordinate position of user in 3D model, according to the picture-taking position of user in 3D model and characteristic point, adopt the algorithm of " K ?Edges " to find the four edges of this scene, as shown in Figure 4 b, thus determine the entrance of this scene.By compare this entrance in 3D model towards with in the actual physics world towards, just can to obtain the rotation parameter of 3D model relative to physical world.
The fitting a straight line obtained by algorithm is above exactly that this scene entrance is stated at 3D model geometric.Afterwards again by comparison indoor plane figure, the rotation of whole 3D model relative to physical world just can be determined.
The embodiment of the present invention is adopted and is carried out estimation translation with the following method:
Need to find a reference point, this reference point coordinate is in physical world and must be all known in 3D model.Namely shooting custom according to a large number of users always tends to the centre the most significant scene being placed on location picture.This location picture is considered as a ray sent from terminal equipment, and so multiple then can tend to be polymerized to a point about the ray that the location picture of this scene produces, and this puts the reference point will looked for exactly.Such as, also for the entrance of above-mentioned certain scene of searching, as shown in Figure 5 a, there is n to open location picture about this scene, then can determine that n bar is taken pictures ray.Take pictures in ray theory can determine according to this n bar
individual intersection point.Here DBSCAN algorithm can be adopted to carry out cluster to these intersection points, and the center obtaining the most intensive class is exactly reference point, as shown in Figure 5 b.Thus the translation relation of 3D model and physical world is determined according to this reference point.
The positioning result that S205, reception server return.
The embodiment of the present invention is compared with other existing indoor orientation method, has low cost, and it is convenient to dispose, and precision is high comparatively.Concrete, the embodiment of the present invention utilizes terminal equipment such as mobile phone and the transducer that comprises camera thereof to achieve indoor positioning, and does not need extra special installation such as radiofrequency launcher etc.The embodiment of the present invention utilizes 3D to reconstruct and image matching technology achieves high-precision indoor positioning, and experimental result shows the position error of the method within 20cm.And the analysis passed through terminal equipment location sensors and utilization, introduce the mechanism of inquiring about more new database according to user, decrease the picture number requirement of setting up 3D model.And the embodiment of the present invention is by multi-modal location, decreases the search volume of images match, considerably reduces the expense of system location, achieve close to real-time indoor positioning effect.Even if user is when carrying out actual location, first the WIFI signal intensity simultaneously uploaded with picture and compass bearing data are mated by server, obtain the alternate scenes set that a scale is less, the method recycling images match afterwards carries out fine-grained accurate location.By the method that the embodiment of the present invention is introduced, the real-time of system is guaranteed.Experimental result shows, overhead can be made to reduce more than 75% by multi-modal location.
The embodiment of the present invention, except the most basic indoor positioning function, can also provide the indoor navigation with assistant images.Its basic thought utilizes image information abundant in database, for user provides indoor navigation service.How describe the present invention in detail below by embodiment 3 provides indoor navigation to serve.
Fig. 6 is the indoor orientation method schematic flow sheet that the specific embodiment of the invention 3 provides, and as shown in Figure 6, comprises the steps:
S301, client receive the target location of user's input, and this target location is sent to server.
Concrete, after client completing user location, also can in the target location receiving user's input, namely user is about to the place gone to, and this target location is sent to server, for user provides navigation Service.
S302, server calculate according to this orientation, user place and this target location the optimal path that user reaches this target location, and return navigation information to client, this navigation information comprises optimal path.
Concrete, namely server goes to place according to the target location of orientation, user place and user's current location and input, calculates shortest path, and optimal path information is back to client.Server can also according to the remarkable scene of this path finding user by process, and be the photo that user returns that is expected an observation angle for each scene.
The navigation information that S303, client reception server return.
Concrete, the navigation information that client reception server returns, comprises the remarkable scene photo that may run in optimal path and path, appreciates for user in navigation information.The all right display room inner plane figure of client, indicates optimal path in plan view.
Fig. 7 is the client terminal structure schematic diagram that the specific embodiment of the invention 4 provides, and as shown in Figure 7, comprising: acquisition module 11, first sending module 12 and the first receiver module 13.Wherein,
Acquisition module 11, the location sensors of above-mentioned terminal equipment during for obtaining indoor positioning picture and shooting that user uses terminal equipment to take;
First sending module 12, for above-mentioned location picture and the sensor locator data are sent to server, to make above-mentioned server according to above-mentioned location picture and orientation, the sensor locator data consumer positioning place;
First receiver module 13, for receiving the positioning result that above-mentioned server returns.
Further, above-mentioned first receiver module 13, also for after the above-mentioned positioning result that returns at reception server, receives the target location of user's input, receives the navigation information that above-mentioned server returns;
Above-mentioned first sending module 12, also for above-mentioned target location is sent to above-mentioned server, calculate according to above-mentioned orientation, user place and above-mentioned target location the optimal path that above-mentioned user reaches above-mentioned target location to make above-mentioned server, return navigation information to client, above-mentioned navigation information comprises above-mentioned optimal path.
Further, also comprise the indoor scene associated with above-mentioned optimal path in above-mentioned navigation information and locate picture.
Further, the sensor locator data comprises compass direction and WIFI signal intensity.
Client described in the present embodiment for perform as shown in Figure 1, Figure 2 with the method step relevant with client in the indoor orientation method shown in Fig. 6, the technique effect of its know-why and generation is similar, specifically see the associated description of embodiment as shown in Figure 1, Figure 2 and Figure 3.
Fig. 8 is the server architecture schematic diagram that the specific embodiment of the invention 5 provides, and as shown in Figure 8, comprising: the second receiver module 21, locating module 22 and the second sending module 23.Wherein,
Second receiver module 21, for receiving location picture and the location sensors of the transmission of above-mentioned client, above-mentioned location picture is user's indoor picture of using terminal equipment take that above-mentioned client obtains, and the sensor locator data is the location sensors of the above-mentioned user of above-mentioned client acquisition above-mentioned terminal equipment when taking;
Locating module 22, for according to described location picture and orientation, the sensor locator data consumer positioning place;
Second sending module 23, for above-mentioned client restoring to normal position result, receives above-mentioned positioning result to make above-mentioned client.
Further, above-mentioned locating module 22, specifically for searching database matching the sensor locator data, obtains initial alignment scenario candidate collection; Concentrate the above-mentioned network for location sheet of coupling in above-mentioned initial alignment scenario candidate, determine orientation, user place.
Further, above-mentioned locating module 22, specifically for determining user's photographed scene and corresponding 3D model; Adopt the orientation of SFM technique computes user in 3D model; Orientation in 3D model converted to orientation physically by Coordinate Conversion.
Further, above-mentioned server, also comprises:
Update module 24, after determining orientation, user place, upgrades the data in above-mentioned database for above-mentioned locating module 22 according to above-mentioned location picture and the sensor locator data.
Further, above-mentioned second receiver module 21, also for after above-mentioned client display orientation, user place, receive the target location that above-mentioned client sends, above-mentioned target location is that user inputs in client;
Above-mentioned server, also comprises:
Navigation module 25, for calculating according to above-mentioned orientation, user place and above-mentioned target location the optimal path that above-mentioned user reaches above-mentioned target location;
Above-mentioned second sending module 23, also for returning navigation information to client, above-mentioned navigation information comprises above-mentioned optimal path.
Further, also comprise the indoor scene associated with above-mentioned optimal path in above-mentioned navigation information and locate picture.
Further, the sensor locator data comprises compass direction and WIFI signal intensity.
Server described in the present embodiment for perform as shown in Figure 1, Figure 2 with the method step relevant with server in the indoor orientation method shown in Fig. 6, the technique effect of its know-why and generation is similar, specifically see the associated description of embodiment as shown in Figure 1, Figure 2 and Figure 3.
Fig. 9 is the system configuration schematic diagram that the specific embodiment of the invention 6 provides, and as shown in Figure 9, comprising: client 31, server 32 and terminal equipment 33.Wherein,
Above-mentioned client 31 is arranged on above-mentioned terminal equipment 33, utilizes the camera of above-mentioned terminal equipment 33 to carry out making a video recording or taking pictures.
Above-mentioned client 31, the location sensors of above-mentioned terminal equipment during for obtaining indoor positioning picture and shooting that user uses terminal equipment 33 to take; Above-mentioned location picture and the sensor locator data are sent to server 32, to make above-mentioned server 32 according to above-mentioned location picture and orientation, the sensor locator data consumer positioning place; Receive the positioning result that above-mentioned server 32 returns;
Further, above-mentioned client 31, also for after the above-mentioned positioning result that reception server 32 returns, receives the target location of user's input, receives the navigation information that above-mentioned server 32 returns; Above-mentioned target location is sent to above-mentioned server 32, calculates according to above-mentioned orientation, user place and above-mentioned target location the optimal path that above-mentioned user reaches above-mentioned target location to make above-mentioned server 32.
Above-mentioned server 32, for receiving location picture and the location sensors of the transmission of above-mentioned client 31, above-mentioned location picture is user's indoor picture of using terminal equipment 33 take that above-mentioned client 31 obtains, and the sensor locator data is the location sensors of the above-mentioned user of above-mentioned client 31 acquisition above-mentioned terminal equipment 33 when taking; According to above-mentioned location picture and orientation, the sensor locator data consumer positioning place; To above-mentioned client 31 restoring to normal position result, receive above-mentioned positioning result to make above-mentioned client 31.
Further, above-mentioned server 32, specifically for searching database matching the sensor locator data, obtains initial alignment scenario candidate collection; Concentrate the above-mentioned network for location sheet of coupling in above-mentioned initial alignment scenario candidate, determine orientation, user place.
Further, above-mentioned server 32, specifically for determining user's photographed scene and corresponding 3D model; Adopt the orientation of SFM technique computes user in 3D model; Orientation in 3D model converted to orientation physically by Coordinate Conversion.
Further, above-mentioned server 32, also for after determining orientation, user place, upgrades the data in above-mentioned database according to above-mentioned location picture and the sensor locator data.
Further, above-mentioned server 32, also for after showing orientation, user place in above-mentioned client 31, receive the target location that above-mentioned client 31 sends, above-mentioned target location is that user inputs in client 31;
Above-mentioned server 32, also for calculating according to above-mentioned orientation, user place and above-mentioned target location the optimal path that above-mentioned user reaches above-mentioned target location; Return navigation information to client 31, above-mentioned navigation information comprises above-mentioned optimal path.
Further, also comprise the indoor scene associated with above-mentioned optimal path in above-mentioned navigation information and locate picture.
Further, the sensor locator data comprises compass direction and WIFI signal intensity.
System described in the present embodiment is for performing method step relevant with the indoor orientation method shown in Fig. 6 as shown in Figure 1, Figure 2, and the technique effect of its know-why and generation is similar, specifically see the associated description of embodiment as shown in Figure 1, Figure 2 and Figure 3.
These are only preferred embodiment of the present invention, not in order to limit the present invention, within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. an indoor orientation method, is characterized in that, comprising:
The location sensors of described terminal equipment when the indoor positioning picture that acquisition user uses terminal equipment to take and shooting;
Described location picture and described location sensors are sent to server, to make described server according to described location picture and orientation, described location sensors consumer positioning place;
The positioning result that reception server returns.
2. method according to claim 1, is characterized in that, described server, according to described location picture and orientation, described location sensors consumer positioning place, comprising:
Location sensors described in described whois lookup database matching, obtains initial alignment scenario candidate collection;
Concentrate coupling described location picture in described initial alignment scenario candidate, determine orientation, user place.
3. method according to claim 2, is characterized in that, described concentrating in described initial alignment scenario candidate mates described location picture, determines orientation, user place, comprising:
Determine user's photographed scene and corresponding 3D model;
Adopt the orientation of SFM technique computes user in 3D model;
Orientation in 3D model converted to orientation physically by Coordinate Conversion.
4. method according to claim 2, is characterized in that, described determine orientation, user place after, also comprise:
The data in described database are upgraded according to described location picture and described location sensors.
5. the method according to any one of Claims 1 to 4, is characterized in that, after orientation, described display user place, also comprises:
Receive the target location of user's input, and described target location is sent to described server, calculate according to described orientation, user place and described target location the optimal path that described user reaches described target location to make described server, return navigation information to client, described navigation information comprises described optimal path;
Receive the navigation information that described server returns.
6. a client, is characterized in that, comprising:
Acquisition module, the location sensors of described terminal equipment during for obtaining indoor positioning picture and shooting that user uses terminal equipment to take;
First sending module, for described location picture and described location sensors are sent to server, to make described server according to described location picture and orientation, described location sensors consumer positioning place;
First receiver module, for receiving the positioning result that described server returns.
7. client according to claim 6, is characterized in that, described first receiver module, also for after the described positioning result that returns at reception server, receives the target location of user's input, receives the navigation information that described server returns;
Described first sending module, also for described target location is sent to described server, calculate according to described orientation, user place and described target location the optimal path that described user reaches described target location to make described server, return navigation information to client, described navigation information comprises described optimal path.
8. client according to claim 7, is characterized in that, also comprises the indoor scene associated with described optimal path and locate picture in described navigation information.
9. a server, is characterized in that, comprising:
Second receiver module, for receiving location picture and the location sensors of the transmission of described client, described location picture is user's indoor picture of using terminal equipment take that described client obtains, and described location sensors is the location sensors of the described user of described client acquisition described terminal equipment when taking;
Locating module, for according to described location picture and orientation, described location sensors consumer positioning place;
Second sending module, for described client restoring to normal position result, receives described positioning result to make described client.
10. server according to claim 9, is characterized in that, described locating module, specifically for determining user's photographed scene and corresponding 3D model; Adopt the orientation of SFM technique computes user in 3D model; Orientation in 3D model converted to orientation physically by Coordinate Conversion.
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| CN105792353A (en) * | 2016-03-14 | 2016-07-20 | 中国人民解放军国防科学技术大学 | Image matching type indoor positioning method with assistance of crowd sensing WiFi signal fingerprint |
| CN105865471A (en) * | 2016-04-01 | 2016-08-17 | 深圳安迪尔智能技术有限公司 | Robot navigation method and navigation robot |
| CN105975967A (en) * | 2016-04-29 | 2016-09-28 | 殳南 | Target positioning method and system |
| CN106289263A (en) * | 2016-08-25 | 2017-01-04 | 乐视控股（北京）有限公司 | Indoor navigation method and device |
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