CN105444773A - Navigation method and system based on real scene recognition and augmented reality - Google Patents
Navigation method and system based on real scene recognition and augmented reality Download PDFInfo
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- CN105444773A CN105444773A CN201510835019.2A CN201510835019A CN105444773A CN 105444773 A CN105444773 A CN 105444773A CN 201510835019 A CN201510835019 A CN 201510835019A CN 105444773 A CN105444773 A CN 105444773A
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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
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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
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
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Abstract
The invention discloses a navigation method and system based on real scene recognition and augmented reality. The method comprises steps as follows: a complete real-scene image picture information library is established; position information of a user is acquired, navigation map information and road network data information are acquired according to the position information; real-scene image picture information is fused with the navigation map information, and first real-scene navigation map information is acquired; the first real-scene navigation map information is subdivided according to road network data, and second real-scene navigation map information subdivided on the basis of a lane level is acquired; the real-scene image picture information photographed in real time is matched and fused with the second real-scene navigation map information, and real-scene navigation map information with augmented reality is acquired. With the adoption of the navigation method and system, the reliability and the accuracy of navigation positioning are improved, and the use experience of the user is effectively improved.
Description
Technical field
The present invention relates to field of navigation technology, particularly relate to a kind of air navigation aid based on outdoor scene identification and augmented reality and system.
Background technology
Be one of all requisite important attribute of any spatial information in society locus, according to statistics, the activity of the mankind 80% is all relevant to spatial positional information, and the active demand of people to spatial information is one of key character of advanced information society.This point is outstanding especially in car steering, and a good auto-navigation system can allow driver easily, safely arrive destination.And current main navigator has the Two-dimensional electron digital map navigation of general mobile phone and the 3D real scene navigation system of professional automatic navigator.Below they are briefly described respectively.
Two-dimensional electron digital map navigation is the navigation informations such as the drive route of simulated automotive on a two dimensional surface, although it can help driver to a certain extent.But Two-dimensional electron digital map navigation visualization is low, describes scene ability and fall.Gps satellite guidance is only adopted to make positioning precision not high.The drafting two dimensionization of leading line, not intuitively, makes troubles to the viewing of user.
The 3D real scene navigation system of specialty automatic navigator adopts simulation 3D map, and when running into crossing, direction indication definitely, but it is not real real real-time scene navigation.Namely employ real real real-time scene navigation, but response speed is comparatively slow, leading line draws out of true.And its navigation information has more on present flat board, augmented reality is poor.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, the invention provides a kind of air navigation aid based on outdoor scene identification and augmented reality and system, for positioning navigation, turn-by-turn navigation can be realized fast in conjunction with outdoor scene augmented reality, improve reliability and the accuracy of navigator fix, and the effective experience sense improving user.
In order to solve the problem, the invention provides a kind of air navigation aid based on outdoor scene identification and augmented reality, described method comprises:
Build complete live-action image picture information database;
Obtain the positional information of user, obtain navigation map information and road net data according to described positional information;
Described live-action image pictorial information and described navigation map information are merged, obtains the first real scene navigation cartographic information;
Adopt described road net data to carry out navigation map information segmentation to described first real scene navigation cartographic information, obtain the second real scene navigation cartographic information being divided into track rank;
The live-action image pictorial information of captured in real-time is carried out mating with described second real scene navigation cartographic information and merges, obtain the real scene navigation cartographic information of augmented reality.
Preferably, the positional information of described acquisition user, obtains navigation map information and road net data according to described positional information, comprising:
The positional information of described user is obtained by GPS positioning system;
According to described positional information, obtain navigation map information and the road net data of described positional information.
Preferably, described described live-action image pictorial information and described navigation map information to be merged, comprise;
By described live-action image pictorial information Dummy modeling, build the dimensional information of described live-action image pictorial information;
Obtain the dimensional information of described navigation map information;
The dimensional information of described live-action image pictorial information is mated with the dimensional information of described navigation map information and merges.
Preferably, described road net data comprises:
Road classification information, highway pavement information and lane information.
Preferably, described the live-action image pictorial information of captured in real-time is carried out mating with described second real scene navigation cartographic information merge, obtain the real scene navigation cartographic information of augmented reality, comprising:
Extract the unique point of the live-action image pictorial information of described captured in real-time and extract described second real scene navigation cartographic information unique point;
Compared between two by the unique point of the live-action image pictorial information of described captured in real-time and described second real scene navigation map feature point, obtain the characteristic point information of coupling mutually;
Scenery correspondence relationship information is built according to the characteristic point information mutually mated;
According to scenery correspondence relationship information, obtain the real scene navigation cartographic information of augmented reality.
Present invention also offers a kind of navigational system based on outdoor scene identification and augmented reality, described system comprises:
Build module: for building complete live-action image picture information database;
Data obtaining module: the positional information obtaining user, obtains navigation map information and road net data according to described positional information;
Fusion Module: for described live-action image pictorial information and described navigation map information being merged, obtain the first real scene navigation cartographic information;
Segmentation module: for adopting described road net data to carry out navigation map information segmentation to described first real scene navigation cartographic information, obtains the second real scene navigation cartographic information being divided into track rank;
Augmented reality module: merge for being carried out mating with described second real scene navigation cartographic information by the live-action image pictorial information of captured in real-time, obtains the real scene navigation cartographic information of augmented reality.
Preferably, described data obtaining module comprises:
Position acquisition unit: for being obtained the positional information of described user by GPS positioning system;
Information acquisition unit: for according to described positional information, obtain navigation map information and the road net data of described positional information.
Preferably, described Fusion Module comprises;
Dummy modeling unit: for by described live-action image pictorial information Dummy modeling, build the dimensional information of described live-action image pictorial information;
Dimension acquiring unit: for obtaining the dimensional information of described navigation map information;
Coupling integrated unit: merge for mating with the dimensional information of described navigation map information the dimensional information of described live-action image pictorial information.
Preferably, described road net data comprises:
Road classification information, highway pavement information and lane information.
Preferably, described augmented reality module comprises:
Unique point acquiring unit: for extracting the unique point of the live-action image pictorial information of described captured in real-time and extracting described second real scene navigation cartographic information unique point;
Feature Points Matching unit: compare between two for the unique point of the live-action image pictorial information by described captured in real-time and described second real scene navigation map feature point, obtains the characteristic point information of coupling mutually;
Relation corresponding unit: for building scenery correspondence relationship information according to the characteristic point information mutually mated;
Augmented reality acquiring unit: for according to scenery correspondence relationship information, obtain the real scene navigation cartographic information of augmented reality.
In the embodiment of the present invention, implement the embodiment of the present invention, turn-by-turn navigation can be realized fast in conjunction with outdoor scene augmented reality, improve reliability and the accuracy of navigator fix, and the effective experience sense improving user.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the schematic flow sheet of the air navigation aid based on outdoor scene identification and augmented reality in the embodiment of the present invention;
Fig. 2 is the schematic flow sheet of the real scene navigation cartographic information of acquisition augmented reality in the embodiment of the present invention;
Fig. 3 is that the structure of the navigational system based on outdoor scene identification and augmented reality in the embodiment of the present invention forms schematic diagram.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
Fig. 1 is the schematic flow sheet of the air navigation aid based on outdoor scene identification and augmented reality in the embodiment of the present invention, and as shown in Figure 1, the method comprises:
S11: build complete live-action image picture information database;
S12: the positional information obtaining user, obtains navigation map information and road net data information according to positional information;
S13: live-action image pictorial information and navigation map information are merged, obtains the first real scene navigation cartographic information;
S14: adopt road net data to carry out navigation map information segmentation to the first real scene navigation cartographic information, obtain the second real scene navigation cartographic information being divided into track rank;
S15: carried out mating with the second real scene navigation cartographic information by the live-action image pictorial information of captured in real-time and merge, obtains the real scene navigation cartographic information of augmented reality.
S11 is described further:
By being arranged on the live-action image pictorial information that multiple CCD camera on mobile vehicle and 360 degree of panorama cameras get, duplicate removal is carried out to the live-action image pictorial information tentatively gone back and goes unintelligible process, the live-action image pictorial information that acquisition does not repeat mutually and degree of tilt is higher, builds live-action image picture information database according to these live-action image pictorial informations.
S12 is described further:
Determined by the position of global position system GPS to user, obtain user position information; Navigation map information and the road net data of position information is obtained according to the positional information at user place.
Road net data comprises the road classification information that is not limited to, highway pavement information and lane information.
S13 is described further:
First be, by the mode of mathematical modeling, mathematical modeling is carried out on the picture that affects met in the live-action image picture information database of navigation highway periphery, build the dimensional information of live-action image picture; Then the dimensional information of the navigation map of this position is obtained by navigation map information; Then merge according to the dimensional relationships between the dimensional information of live-action image picture and the dimensional information of navigation map, obtain the first real scene navigation cartographic information.
S14 is described further:
Road classification information, highway pavement information and lane information in road network data is adopted to carry out navigation map information segmentation to the first real scene navigation cartographic information, here segmentation refers to the model information rebuilding more refinement, be about to the navigation track of highway and isolation strip etc. all divide out, such user can have better experience sense; By above-mentioned segmentation, the second real scene navigation cartographic information being divided into track rank can be obtained.
S15 is described further:
Fig. 2 is the schematic flow sheet of the real scene navigation cartographic information of acquisition augmented reality in the embodiment of the present invention, and composition graphs 2, is described in detail to S15:
S151: extract the unique point of the live-action image pictorial information of captured in real-time and extract the second real scene navigation cartographic information unique point;
S152: compared between two by the unique point of the live-action image pictorial information of captured in real-time and the second real scene navigation cartographic information unique point, obtains the characteristic point information of coupling mutually;
S153: build scenery correspondence relationship information according to the characteristic point information mutually mated;
S154: according to scenery correspondence relationship information, obtains the real scene navigation cartographic information of augmented reality.
S151 is described further:
First to the dimensional information unique point adopting the mode of mathematical modeling to obtain the live-action image pictorial information of captured in real-time, colleague also obtains the dimensional information unique point of the second real scene navigation cartographic information; Again gray proces and noise reduction process are carried out to the live-action image pictorial information of captured in real-time and the second real scene navigation cartographic information, obtain the scene features point of live-action image pictorial information and the second real scene navigation cartographic information.
S152 is described further:
First be adopt the unique point of the live-action image pictorial information of captured in real-time to compare between two with the second real scene navigation cartographic information unique point, obtain two unique points that unique point is the most close, then the most close two unique points are just mated, obtain Feature Points Matching information.
S153 is described further:
According to the characteristic Point matching information that S152 obtains, the live-action image pictorial information of reverse structure and reduction shooting and the second real scene navigation cartographic information scenery are to correspondence relationship information.
S154 is described further:
According to scenery correspondence relationship information, adopt live-action image pictorial information to carry out augmented reality outdoor scene to navigation map information, obtain the real scene navigation cartographic information of augmented reality.
Fig. 3 is that the structure of the navigational system based on outdoor scene identification and augmented reality in the embodiment of the present invention forms schematic diagram, and as shown in Figure 3, this system comprises:
Build module: for building complete live-action image picture information database;
Data obtaining module: the positional information obtaining user, obtains navigation map information and road net data according to positional information;
Fusion Module: for live-action image pictorial information and navigation map information being merged, obtains the first real scene navigation cartographic information;
Segmentation module: for adopting road net data to carry out navigation map information segmentation to the first real scene navigation cartographic information, obtains the second real scene navigation cartographic information being divided into track rank;
Augmented reality module: merge for being carried out mating with the second real scene navigation cartographic information by the live-action image pictorial information of captured in real-time, obtains the real scene navigation cartographic information of augmented reality.
Preferably, data obtaining module comprises:
Position acquisition unit: for being obtained the positional information of user by GPS positioning system;
Information acquisition unit: for according to positional information, obtain navigation map information and the road net data of positional information.
Preferably, Fusion Module comprises;
Dummy modeling unit: for by live-action image pictorial information Dummy modeling, build the dimensional information of live-action image pictorial information;
Dimension acquiring unit: for obtaining the dimensional information of navigation map information;
Coupling integrated unit: merge for mating with the dimensional information of navigation map information the dimensional information of live-action image pictorial information.
Preferably, road net data comprises:
Road classification information, highway pavement information and lane information.
Preferably, augmented reality module comprises:
Unique point acquiring unit: for extracting the unique point of the live-action image pictorial information of captured in real-time and extracting the second real scene navigation cartographic information unique point;
Feature Points Matching unit: compare between two for the unique point of the live-action image pictorial information by captured in real-time and the second real scene navigation map feature point, obtains the characteristic point information of coupling mutually;
Relation corresponding unit: for building scenery correspondence relationship information according to the characteristic point information mutually mated;
Augmented reality acquiring unit: for according to scenery correspondence relationship information, obtain the real scene navigation cartographic information of augmented reality.
Particularly, the principle of work of the system related functions module of the embodiment of the present invention see the associated description of embodiment of the method, can repeat no more here.
In the embodiment of the present invention, implement the embodiment of the present invention, turn-by-turn navigation can be realized fast in conjunction with outdoor scene augmented reality, improve reliability and the accuracy of navigator fix, and the effective experience sense improving user.
One of ordinary skill in the art will appreciate that all or part of step in the various methods of above-described embodiment is that the hardware that can carry out instruction relevant by program has come, this program can be stored in a computer-readable recording medium, storage medium can comprise: ROM (read-only memory) (ROM, ReadOnlyMemory), random access memory (RAM, RandomAccessMemory), disk or CD etc.
In addition, a kind of air navigation aid based on outdoor scene identification and augmented reality provided the embodiment of the present invention above and system are described in detail, apply specific case herein to set forth principle of the present invention and embodiment, the explanation of above embodiment just understands method of the present invention and core concept thereof for helping; Meanwhile, for one of ordinary skill in the art, according to thought of the present invention, all will change in specific embodiments and applications, in sum, this description should not be construed as limitation of the present invention.
Claims (10)
1., based on an air navigation aid for outdoor scene identification and augmented reality, it is characterized in that, described method comprises:
Build complete live-action image picture information database;
Obtain the positional information of user, obtain navigation map information and road net data information according to described positional information;
Described live-action image pictorial information and described navigation map information are merged, obtains the first real scene navigation cartographic information;
Adopt described road net data to carry out navigation map information segmentation to described first real scene navigation cartographic information, obtain the second real scene navigation cartographic information being divided into track rank;
The live-action image pictorial information of captured in real-time is carried out mating with described second real scene navigation cartographic information and merges, obtain the real scene navigation cartographic information of augmented reality.
2. air navigation aid according to claim 1, is characterized in that, the positional information of described acquisition user, obtains navigation map information and road net data according to described positional information, comprising:
The positional information of described user is obtained by GPS positioning system;
According to described positional information, obtain navigation map information and the road net data of described positional information.
3. air navigation aid according to claim 1, is characterized in that, describedly described live-action image pictorial information and described navigation map information is merged, and comprises;
By described live-action image pictorial information Dummy modeling, build the dimensional information of described live-action image pictorial information;
Obtain the dimensional information of described navigation map information;
The dimensional information of described live-action image pictorial information is mated with the dimensional information of described navigation map information and merges.
4. air navigation aid according to claim 1, is characterized in that, described road net data comprises:
Road classification information, highway pavement information and lane information.
5. air navigation aid according to claim 1, is characterized in that, described the live-action image pictorial information of captured in real-time is carried out mating with described second real scene navigation cartographic information merge, obtain the real scene navigation cartographic information of augmented reality, comprising:
Extract the unique point of the live-action image pictorial information of described captured in real-time and extract described second real scene navigation cartographic information unique point;
Compared between two by the unique point of the live-action image pictorial information of described captured in real-time and described second real scene navigation cartographic information unique point, obtain the characteristic point information of coupling mutually;
Scenery correspondence relationship information is built according to the characteristic point information mutually mated;
According to scenery correspondence relationship information, obtain the real scene navigation cartographic information of augmented reality.
6., based on a navigational system for outdoor scene identification and augmented reality, it is characterized in that, described system comprises:
Build module: for building complete live-action image picture information database;
Data obtaining module: the positional information obtaining user, obtains navigation map information and road net data according to described positional information;
Fusion Module: for described live-action image pictorial information and described navigation map information being merged, obtain the first real scene navigation cartographic information;
Segmentation module: for adopting described road net data to carry out navigation map information segmentation to described first real scene navigation cartographic information, obtains the second real scene navigation cartographic information being divided into track rank;
Augmented reality module: merge for being carried out mating with described second real scene navigation cartographic information by the live-action image pictorial information of captured in real-time, obtains the real scene navigation cartographic information of augmented reality.
7. navigational system according to claim 6, is characterized in that, the positional information of described acquisition user, and described data obtaining module comprises:
Position acquisition unit: for being obtained the positional information of described user by GPS positioning system;
Information acquisition unit: for according to described positional information, obtain navigation map information and the road net data of described positional information.
8. navigational system according to claim 6, is characterized in that, described Fusion Module comprises;
Dummy modeling unit: for by described live-action image pictorial information Dummy modeling, build the dimensional information of described live-action image pictorial information;
Dimension acquiring unit: for obtaining the dimensional information of described navigation map information;
Coupling integrated unit: merge for mating with the dimensional information of described navigation map information the dimensional information of described live-action image pictorial information.
9. navigational system according to claim 6, is characterized in that, described road net data comprises:
Road classification information, highway pavement information and lane information.
10. navigational system according to claim 6, is characterized in that, described augmented reality module comprises:
Unique point acquiring unit: for extracting the unique point of the live-action image pictorial information of described captured in real-time and extracting described second real scene navigation cartographic information unique point;
Feature Points Matching unit: compare between two for the unique point of the live-action image pictorial information by described captured in real-time and described second real scene navigation cartographic information unique point, obtains the characteristic point information of coupling mutually;
Relation corresponding unit: for building scenery correspondence relationship information according to the characteristic point information mutually mated;
Augmented reality acquiring unit: for according to scenery correspondence relationship information, obtain the real scene navigation cartographic information of augmented reality.
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