CN106643735A - Indoor positioning method and device and mobile terminal - Google Patents
Indoor positioning method and device and mobile terminal Download PDFInfo
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- CN106643735A CN106643735A CN201710011155.9A CN201710011155A CN106643735A CN 106643735 A CN106643735 A CN 106643735A CN 201710011155 A CN201710011155 A CN 201710011155A CN 106643735 A CN106643735 A CN 106643735A
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- 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
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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Abstract
The invention provides an indoor positioning method and device and a mobile terminal. The method comprises the steps as follows: an image acquisition device is used for shooting a target area continuously, and image information of the target area is obtained; ID encoded information of each characteristic point is obtained, and position information of the characteristic point corresponding to the ID information is determined according to the acquired ID information; internal parameter information of the image acquisition device is acquired, and rotation angle information of an object space coordinate system around three axial coordinates when the system is converted to be consistent with an image space coordinate system in posture is calculated in accordance with the internal parameter information; the position information of each characteristic point and the rotation angle information are substituted into ideal imaging models, multiple groups of ideal imaging models are obtained and are simultaneously solved, and position information of the image acquisition device in the spatial three-dimensional coordinate system is obtained. Compared with a conventional indoor positioning method, the indoor positioning method is high in precision.
Description
Technical field
The present invention relates to field of locating technology, more particularly, it relates to a kind of indoor orientation method, device and movement are eventually
End.
Background technology
It has been investigated that, the time of people more than 80% is movable indoors, and more than 70% traffic is from interior, therefore room
The demand of interior location navigation more shows protrusion.
In traditional alignment system, had been achieved for widely with the global position system that GPS navigation orientates representative as
Using, but the system is limited only to outdoor utility, because interior belongs to enclosed space, causes the GPS navigation positioning nothing
Method meets the demand of indoor positioning.
Although having carried out numerous studies for indoor positioning both at home and abroad, mainly have based on the indoor positioning of visible light communication
Method, but the positioning pair of the method as if characteristic point light source, are not that directly user is positioned, therefore its accurate positioning
Degree is low.
Therefore how to improve the precision of indoor positioning, become those skilled in the art's technical problem urgently to be resolved hurrily it
One.
The content of the invention
It is an object of the invention to provide it is a kind of based on the indoor orientation method of visual light imaging, device and mobile terminal,
To improve the precision of indoor positioning.
For achieving the above object, following technical scheme is embodiments provided：
A kind of indoor orientation method, including：
Target area is continuously shot using image capture device, obtains the image information of target area；
The ID coding informations of each characteristic point in described image information are obtained, is determined according to the id information for getting
The positional information of the characteristic point corresponding with the id information；
The inner parameter information of described image collecting device is obtained, according to the inner parameter information object space is calculated
The rotation angle information rotated through around three axial coordinates when coordinate system is transformed into consistent with image space coordinate system attitude；
Respectively the positional information of each characteristic point and the rotation angle information are substituted into into ideal image model, obtained
Multigroup ideal image model, the multigroup ideal image model obtained by simultaneous is simultaneously solved, and obtains image capture device in space three
Positional information in dimension coordinate system.
Preferably, it is described to be calculated object space coordinate system turn according to the inner parameter information in indoor orientation method
After the rotation angle information rotated through around three axial coordinates when changing to consistent with image space coordinate system attitude, also include：
According to the rotation angle information determine described image collecting device collection image information when camera hole towards
Directional information.
Preferably, in indoor orientation method, the corrected parameter information includes：
Translation rotation parameter a, b in the three-dimensional coordinate system of image capture device, the focal length f of image capture device,
And deviation u of image capture device X-direction in image space coordinate system0With deviation v of Y direction0。
Preferably, in indoor orientation method, the ideal image model is：
Wherein, the u and v represent coordinate of the characteristic point under image space coordinate system, the u0Represent IMAQ
The deviation of equipment X-direction in image space coordinate system, the v0Represent image capture device Y-axis side in image space coordinate system
To deviation, wherein the Z axis of the image space coordinate system for described image collecting device optical axis, a1Equal to cos εxcos
εz-sinεxsinεysinεz, a2Equal to-cos εxsinεz-sinεxsinεycosεz；a3Equal to-sin εxcosεy；b1Equal to cos εxsinεz；b2Equal to cos εycosεz；b2Equal to-sin εy；c1Equal to sin εxcosεz+cosεxsinεysinεz；c2Equal to-sin εxsinεz+cosεxsinεycosεz；c3Equal to cos εxcosεy, the εxIt is transformed into for object space coordinate system and image space coordinate system
The rotation angle information rotated through around X-axis when attitude is consistent, the εyIt is transformed into and image space coordinate for object space coordinate system
It is the rotation angle information rotated through around Y-axis when attitude is consistent, the εzIt is transformed into for object space coordinate system and is sat with image space
The rotation angle information rotated through around X-axis when mark system attitude is consistent；The x is used to represent the characteristic point in object space coordinate
The coordinate value information of X-direction in system, y is used to represent the coordinate value letter of characteristic point Y direction in object space coordinate system
Breath, z is used to represent the coordinate value information of characteristic point Z-direction in object space coordinate system；The xsIt is described for representing
The coordinate information of image capture device X-direction in object space coordinate system, the ysFor representing described image collecting device
The coordinate information of Y direction in object space coordinate system, the zsFor representing described image collecting device in object space coordinate
The coordinate information of Z-direction in system.
A kind of indoor positioning device, including：
Image acquisition units, are continuously shot for controlling image capture device to target area, obtain target area
Image information；
Image analyzing unit, for obtaining described image information in each characteristic point ID coding informations, according to obtain
The id information for arriving determines the positional information of the characteristic point corresponding with the id information；
Rotation angle calculating unit, for obtaining the inner parameter information of described image collecting device, according to the inside
Parameter information is calculated when object space coordinate system is transformed into consistent with image space coordinate system attitude around three axial coordinate rotations
The rotation angle information crossed；
Coordinate calculating unit, for respectively by the positional information of each characteristic point and rotation angle information substitution
Ideal image model, obtains multigroup ideal image model, and the multigroup ideal image model obtained by simultaneous is simultaneously solved, and obtains image
Positional information of the collecting device in 3 d space coordinate system.
Preferably, above-mentioned indoor positioning device, also includes：
Direction calculating unit, for determining that described image collecting device gathers image information according to the rotation angle information
When camera hole towards directional information.
Preferably, above-mentioned indoor positioning device, the corrected parameter information includes：
Translation rotation parameter a, b in the three-dimensional coordinate system of image capture device, the focal length f of image capture device,
And deviation u of image capture device X-direction in image space coordinate system0With deviation v of Y direction0。
Preferably, above-mentioned indoor positioning device, the coordinate calculating unit specifically for：
By respectively by the positional information of each characteristic point and rotation angle information substitution ideal image model：
Multigroup ideal image model is obtained, the multigroup ideal image model obtained by simultaneous is simultaneously solved, and obtains image capture device
Positional information in 3 d space coordinate system；
Wherein, described u, v represent coordinate of the characteristic point under image space coordinate system, the u0Represent that IMAQ sets
The deviation of the standby X-direction in image space coordinate system, the v0Represent image capture device Y direction in image space coordinate system
Deviation, wherein the Z axis of the image space coordinate system for described image collecting device optical axis, a1Equal to cos εxcosεz-
sinεxsinεysinεz, a2Equal to-cos εxsinεz-sinεxsinεycosεz；a3Equal to-sin εxcosεy；b1Equal to cos εxsin
εz；b2Equal to cos εycosεz；b2Equal to-sin εy；c1Equal to sin εxcosεz+cosεxsinεysinεz；c2Equal to-sin εxsin
εz+cosεxsinεycosεz；c3Equal to cos εxcosεy, the εxIt is transformed into and image space coordinate system attitude for object space coordinate system
The rotation angle information rotated through around X-axis when consistent, the εyIt is transformed into and image space coordinate system appearance for object space coordinate system
The rotation angle information rotated through around Y-axis when state is consistent, the εzIt is transformed into for object space coordinate system and image space coordinate system
The rotation angle information rotated through around X-axis when attitude is consistent；The x is used to represent the characteristic point in object space coordinate system
The coordinate value information of X-direction, y is used to represent the coordinate value information of characteristic point Y direction in object space coordinate system, z
For representing the coordinate value information of characteristic point Z-direction in object space coordinate system；The xsFor representing described image
The coordinate information of collecting device X-direction in object space coordinate system, the ysFor representing described image collecting device in thing
The coordinate information of Y direction in space coordinates, the zsFor representing described image collecting device Z in object space coordinate system
Axial coordinate information.
A kind of mobile terminal, application has indoor positioning device disclosed in above-mentioned any one.
Preferably, in above-mentioned mobile terminal, described image collecting device is mobile phone camera.
By above scheme, indoor orientation method provided in an embodiment of the present invention, initially with visible light communication skill
Art obtains the positional information of target area, then by the positional information of all of characteristic point for getting and by calculated
Rotation angle information substitutes into ideal image model, is calculated residing for described image collecting device according to the ideal image model
Space coordinates in positional information, the positional information in space coordinates residing for described image collecting device is user
The positional information of residing space coordinates, thus, it could be seen that for traditional indoor orientation method, above-described embodiment is public
The scheme precision opened more can accurately express the positional information that user is presently in.
Description of the drawings
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is a kind of flow chart of indoor orientation method disclosed in the embodiment of the present invention；
Fig. 2 is a kind of flow chart of indoor orientation method disclosed in another embodiment of the application；
Fig. 3 is the schematic diagram that user is acquired using image capture device to target area；
Projection model figure centered on Fig. 4；
Fig. 5 is Coordinate Transformation Models figure；
Fig. 6 is a kind of structural representation of indoor positioning device disclosed in the embodiment of the present application.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than the embodiment of whole.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
It is directed to traditional indoor orientation method or precision is low or problem of high cost, this application discloses a kind of indoor
Localization method.
By using visible light communication technology in traditional indoor orientation method, can for indoor positioning provide light source ID,
The foundation location information such as light source position coordinate, interior architecture structure, the localization method cost is relatively low, locating speed is fast.Applicant
Find through research, if it will be seen that optical communication technique and imaging location technology combine, using the teaching of the invention it is possible to provide more accurately position
As a result.
It is a kind of indoor orientation method disclosed in the embodiment of the present application referring to Fig. 1, referring to Fig. 1, the method includes：
Step S101：Target area is continuously shot using image capture device, obtains the image letter of target area
Breath；
Step S102：The ID coding informations of each characteristic point in described image information are obtained, it is described according to what is got
Id information determines the positional information of the characteristic point corresponding with the id information；
The process is concretely：Determine the multiple characteristic points in described image information, the plurality of feature is clicked through respectively
Row Feature Points Matching, obtains the ID coding informations of each characteristic point, according to the id information for getting determine with it is described
The positional information of the corresponding characteristic point of id information；
Step S103：The inner parameter information of described image collecting device is obtained, is calculated according to the inner parameter information
Obtain the anglec of rotation rotated through around three axial coordinates when object space coordinate system is transformed into consistent with image space coordinate system attitude
Information；
Step S104：Respectively the positional information of each characteristic point and the rotation angle information are substituted into into ideal image
Model, obtains multigroup ideal image model, and the multigroup ideal image model obtained by simultaneous is simultaneously solved, and obtains image capture device
Positional information in 3 d space coordinate system.
By using method disclosed in the above embodiments of the present application, initially with visible light communication technology target area being obtained
Positional information, certainly, it should be noted that the now acquired positional information is characterized point (in the target area
There are multiple characteristic points) positional information, and the positional information of non-user, then by the position of all of characteristic point for getting
Information and by calculated rotation angle information substitute into ideal image model, be calculated according to the ideal image model
The positional information in space coordinates residing for described image collecting device, the space coordinates residing for described image collecting device
In positional information be the positional information of the space coordinates residing for user, thus, it could be seen that relative to traditional indoor positioning
For method, scheme precision disclosed in above-described embodiment more can accurately express the positional information that user is presently in.
On the basis of realizing being accurately positioned user using said method, preferably take to bring to user
Business, indoor orientation method disclosed in the embodiment of the present application can also by be calculated user it is current towards direction, i.e. referring to
Fig. 2, it is described according to the inner parameter information be calculated object space coordinate system be transformed into it is consistent with image space coordinate system attitude
When the rotation angle information that rotates through around three axial coordinates after, said method also includes：
Step S105：Camera hole when determining described image collecting device collection image information according to the rotation angle information
Towards directional information.When IMAQ is carried out, the camera hole of described image collecting device towards direction, as use
Family it is current towards direction.
Wherein, the corrected parameter information can include：Translation rotation in the three-dimensional coordinate system of image capture device
Turn parameter a, b, the focal length f of image capture device, and deviation u of image capture device X-direction in image space coordinate system0
With deviation v of Y direction0.Certainly, in order that the value of calculated rotation angle information is more accurate, the application is above-mentioned
Positive parameter information can also include：Radial distortion parameter, decentering distortion parameter and Affine distortion parameter.Wherein described radial distortion
Caused pillow/barrel-shaped distortion phenomenon due to due to the camera lens technique of described image collecting device is primarily referred to as, decentering distortion is
Refer to due to the non-phenomenon placed in the middle of photocentre caused by rigging error, Affine distortion is referred to due to the image sensing in image capture device
Xy axles are non-orthogonal caused by device technique, or the phenomenon that xy axis scales are inconsistent.It should be noted that specific how according to institute
State corrected parameter information and be calculated the rotation angle information, be that those skilled in the art commonly use when image procossing is carried out
Computational methods, in this regard, the application be not described in detail.
Certainly, calculating process for convenience in user's more intuitive understanding the application above-mentioned steps S104, the application
The form of also described ideal image model has carried out concrete restriction, for example, the technical scheme disclosed in the above embodiments of the present application
In,：
Wherein, the u and v represent coordinate of the characteristic point under image space coordinate system, the u0Represent IMAQ
The deviation of equipment X-direction in image space coordinate system, the v0Represent image capture device Y-axis side in image space coordinate system
To deviation, wherein the Z axis of the image space coordinate system for described image collecting device optical axis, a1Equal to cos εxcos
εz-sinεxsinεysinεz, a2Equal to-cos εxsinεz-sinεxsinεycosεz；a3Equal to-sin εxcosεy；b1Equal to cos εxsinεz；b2Equal to cos εycosεz；b2Equal to-sin εy；c1Equal to sin εxcosεz+cosεxsinεysinεz；c2Equal to-sin εxsinεz+cosεxsinεycosεz；c3Equal to cos εxcosεy, the εxIt is transformed into for object space coordinate system and image space coordinate system
The rotation angle information rotated through around X-axis when attitude is consistent, the εyIt is transformed into and image space coordinate for object space coordinate system
It is the rotation angle information rotated through around Y-axis when attitude is consistent, the εzIt is transformed into for object space coordinate system and is sat with image space
The rotation angle information rotated through around X-axis when mark system attitude is consistent；The x is used to represent the characteristic point in object space coordinate
The coordinate value information of X-direction in system, y is used to represent the coordinate value letter of characteristic point Y direction in object space coordinate system
Breath, z is used to represent the coordinate value information of characteristic point Z-direction in object space coordinate system；The xsIt is described for representing
The coordinate information of image capture device X-direction in object space coordinate system, the ysFor representing described image collecting device
The coordinate information of Y direction in object space coordinate system, the zsFor representing described image collecting device in object space coordinate
The coordinate information of Z-direction in system.
Certainly, for convenience user is more directly perceived, be apparent from the application the tool of technical scheme disclosed in embodiment
Body process, the application is also illustrated to the concrete principle of said method, and referring to Fig. 3, Fig. 3 is set for user using IMAQ
The schematic diagram that standby 0 pair of target area is acquired, wherein, the LED 1, LED2, LED3, LED4 is the mesh
Characteristic point in mark region, the LED 1, LED2, LED3, LED4 is mapped to image plane after lens；
The camera lens of described image collecting device is equivalent to thin lens, and the aperture that can set the thin lens goes to zero, then described
The imaging process of image capture device is equal to pinhole imaging system, and described image collecting device can be with to the image transformation process of target
Projection of the object point in object space in image space is expressed as, generally thing is realized using the central projection mode in photogrammetry
The projection mapping conversion of image space.The projection and imaging model --- central projection commonly used in photogrammetric is described below.Such as
Shown in Fig. 4, SaA, SbB, ScC, SdD represent the incident line, and object point A, B, C, D are projected in image plane P, subpoint be respectively a, b,
C, d, described SaA, SbB, ScC, SdD converge at projection centre S.
Image space coordinate system：In the coordinate system of image space position, it is S that the origin of coordinates takes its projection centre to description picture point, is sat
The positive Z axis of target take the photography direction of described image collecting device, make to be picture parallel to the axis of X in image plane and Y-axis by S
The X and Y-axis of space coordinates.In the image space coordinate system Z axis coordinate of each picture point be equal to described image collection set
Standby focal length f.
In described Fig. 5, u0、v0Deviation of the picture point in X-direction and Y direction, the u are represented respectively0、v0Can lead to
Cross and obtained after demarcating to described image collecting device.If projection centre S of image space coordinate system is in object space coordinate system
Coordinate be (xs,ys,zs)T, turn over around three reference axis when object space coordinate system transforms to consistent with image space coordinate system attitude
Angle be (εx,εy,εz)。
Object point (characteristic point) coordinate under object space coordinate system is X=(x, y, z)T, the X can be by the visible light communication
Obtain, coordinate of the ideal image point that the object point in image planes maps under image space coordinate system is m=(u, v)T, the relationship of the two
Can be represented with ideal image model：
If coordinate spin matrix R is defined as follows：
Carry out being converted to m=MX=K [R | t] X to the ideal image model；
Matrix K describes the internal structure of described image collecting device, referred to as the internal reference matrix of camera, and parameter therein claims
For the inner parameter of image capture device, R, t are respectively coordinate spin matrix and translation vector, describe image capture device and exist
Position and direction in object space coordinate system, the referred to as external parameter of image capture device, M=K [R | t] it is referred to as projection matrix,
The inside and outside parameter of image capture device is implied simultaneously.
On the premise of multiple characteristic point informations are obtained in that, can obtain multinomial above-mentioned matrix equation (m=MX=K [R |
T] X), simultaneous solution equation group, you can the positional information in 3 d space coordinate of image capture device is asked for, while may be used also
The anglec of rotation of the camera in three reference axis is estimated, so as to complete that user is accurately positioned.
Wherein, it is the positional information for accurately obtaining characteristic point that pinpoint precondition is carried out to user.Actually should
With in, due to light source making and mounting process there is error, it is impossible to accurately by light source be arranged on specified location, it is direct when its
During for indoor positioning, larger position error will be produced, so need first to demarcate the position of light source, to correct system
The site error made and produce in installation process.
Certainly, in practice, due to image capture device camera lens assembly technology and lens design manufacturing process there is nothing
Difference, may result in actual optical system cannot realize three point on a straight line.Common inner parameter includes：Focal length, radial distortion
Parameter, decentering distortion parameter and Affine distortion parameter.Wherein radial distortion is primarily referred to as caused due to due to camera lens technique
Pillow/barrel-shaped distortion phenomenon, decentering distortion referred to due to the non-phenomenon placed in the middle of photocentre caused by rigging error, Affine distortion refer to by
X, Y-axis are non-orthogonal caused by image sensor process, or the phenomenon that X, Y-axis ratio are inconsistent.
Therefore, using field experiment method the above-mentioned parameter of described image acquisition terminal can be demarcated and is corrected.Field experiment
The general principle of method is that the target to known parameters repeatedly, different angles is taken pictures, and is estimated with the principle of least square afterwards
Go out the Inside Parameter Value of image capture device.The inner parameter for estimating is reused to each picpointed coordinate conversion, to meet three
The conllinear requirement of point.
It is understood that be directed to said method disclosed herein as well is a kind of indoor positioning device, methods described and
The technical characteristic of device can be used for reference mutually, and referring to Fig. 6, described device includes：
Image acquisition units 10, are continuously shot for controlling image capture device to target area, obtain target area
The image information in domain；
Image analyzing unit 20, for obtaining described image information in each characteristic point ID coding informations, according to obtaining
The id information got determines the positional information of the characteristic point corresponding with the id information；
Rotation angle calculating unit 30, for obtaining the inner parameter information of described image collecting device, according to described interior
Portion's parameter information is calculated when object space coordinate system is transformed into consistent with image space coordinate system attitude around three axial coordinate rotations
The rotation angle information for turning over；
Coordinate calculating unit 40, for respectively by the positional information of each characteristic point and the rotation angle information generation
Enter ideal image model, obtain multigroup ideal image model, the multigroup ideal image model obtained by simultaneous is simultaneously solved, and obtains figure
As positional information of the collecting device in 3 d space coordinate system.
Corresponding with said method, described device also includes：
Direction calculating unit, for determining that described image collecting device gathers image information according to the rotation angle information
When camera hole towards directional information.
Corresponding with said method, the corrected parameter information can include：
Translation rotation parameter a, b in the three-dimensional coordinate system of image capture device, the focal length f of image capture device,
And deviation u of image capture device X-direction in image space coordinate system0With deviation v of Y direction0。
It is corresponding with said method, the coordinate calculating unit specifically for：
By respectively by the positional information of each characteristic point and rotation angle information substitution ideal image model：Multigroup ideal image model is obtained, the multigroup reason obtained by simultaneous
Think imaging model and solve, obtain positional information of the image capture device in 3 d space coordinate system；
Wherein, the u and v represent coordinate of the characteristic point under image space coordinate system, the u0Represent IMAQ
The deviation of equipment X-direction in image space coordinate system, the v0Represent image capture device Y-axis side in image space coordinate system
To deviation, wherein the Z axis of the image space coordinate system for described image collecting device optical axis, a1Equal to cos εxcos
εz-sinεxsinεysinεz, a2Equal to-cos εxsinεz-sinεxsinεycosεz；a3Equal to-sin εxcosεy；b1Equal to cos εxsinεz；b2Equal to cos εycosεz；b2Equal to-sin εy；c1Equal to sin εxcosεz+cosεxsinεysinεz；c2Equal to-sin εxsinεz+cosεxsinεycosεz；c3Equal to cos εxcosεy, the εxIt is transformed into for object space coordinate system and image space coordinate system
The rotation angle information rotated through around X-axis when attitude is consistent, the εyIt is transformed into and image space coordinate for object space coordinate system
It is the rotation angle information rotated through around Y-axis when attitude is consistent, the εzIt is transformed into for object space coordinate system and is sat with image space
The rotation angle information rotated through around X-axis when mark system attitude is consistent；The x is used to represent the characteristic point in object space coordinate
The coordinate value information of X-direction in system, y is used to represent the coordinate value letter of characteristic point Y direction in object space coordinate system
Breath, z is used to represent the coordinate value information of characteristic point Z-direction in object space coordinate system；The xsIt is described for representing
The coordinate information of image capture device X-direction in object space coordinate system, the ysFor representing described image collecting device
The coordinate information of Y direction in object space coordinate system, the zsFor representing described image collecting device in object space coordinate
The coordinate information of Z-direction in system.
It is understood that being directed to said apparatus disclosed herein as well is a kind of mobile terminal, the mobile terminal should
With indoor positioning device disclosed in above-mentioned any one embodiment.
It is understood that the mobile terminal can be PDA or mobile phone etc. setting with shooting and data processing function
Standby, when the mobile terminal is mobile phone, the described image collecting device being previously mentioned in the above embodiments of the present application is taken the photograph for mobile phone
As head.
Each embodiment is described by the way of progressive in this specification, and what each embodiment was stressed is and other
The difference of embodiment, between each embodiment identical similar portion mutually referring to.
The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or using the present invention.
Various modifications to these embodiments will be apparent for those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, the present invention
The embodiments shown herein is not intended to be limited to, and is to fit to and principles disclosed herein and features of novelty phase one
The most wide scope for causing.
Claims (10)
1. a kind of indoor orientation method, it is characterised in that include：
Target area is continuously shot using image capture device, obtains the image information of target area；
The ID coding informations of each characteristic point in described image information are obtained, is determined according to the id information for getting and institute
State the positional information of the corresponding characteristic point of id information；
The inner parameter information of described image collecting device is obtained, according to the inner parameter information object space coordinate is calculated
The rotation angle information that system rotates through when being transformed into consistent with image space coordinate system attitude around three axial coordinates；
Respectively the positional information of each characteristic point and the rotation angle information are substituted into into ideal image model, obtain multigroup
Ideal image model, the multigroup ideal image model obtained by simultaneous is simultaneously solved, and is obtained image capture device and is sat in space three-dimensional
Positional information in mark system.
2. indoor orientation method according to claim 1, it is characterised in that described to calculate according to the inner parameter information
Obtain the anglec of rotation rotated through around three axial coordinates when object space coordinate system is transformed into consistent with image space coordinate system attitude
After information, also include：
According to the rotation angle information determine described image collecting device collection image information when camera hole towards direction
Information.
3. indoor orientation method according to claim 1, it is characterised in that the corrected parameter information includes：
Translation rotation parameter a, b in the three-dimensional coordinate system of image capture device, the focal length f of image capture device, and
Deviation u of image capture device X-direction in image space coordinate system0With deviation v of Y direction0。
4. indoor orientation method according to claim 1, it is characterised in that the ideal image model is：
Wherein, the u and v represent coordinate of the characteristic point under image space coordinate system, the u0Represent that image capture device exists
The deviation of X-direction in image space coordinate system, the v0Represent image capture device in image space coordinate system Y direction it is inclined
Difference, wherein optical axis of the Z axis of the image space coordinate system for described image collecting device, a1Equal to cos εxcosεz-sin
εxsinεysinεz, a2Equal to-cos εxsinεz-sinεxsinεycosεz；a3Equal to-sin εxcosεy；b1Equal to cos εxsinεz；
b2Equal to cos εycosεz；b2Equal to-sin εy；c1Equal to sin εxcosεz+cosεxsinεysinεz；c2Equal to-sin εxsinεz+
cosεxsinεycosεz；c3Equal to cos εxcosεy, the εxIt is transformed into and image space coordinate system attitude one for object space coordinate system
The rotation angle information rotated through around X-axis during cause, the εyIt is transformed into and image space coordinate system attitude for object space coordinate system
The rotation angle information rotated through around Y-axis when consistent, the εzIt is transformed into and image space coordinate system appearance for object space coordinate system
The rotation angle information rotated through around X-axis when state is consistent；The x is used to represent characteristic point X in object space coordinate system
Axial coordinate value information, y is used to represent the coordinate value information of characteristic point Y direction in object space coordinate system that z to be used
In the coordinate value information for representing characteristic point Z-direction in object space coordinate system；The xsFor representing that described image is adopted
The coordinate information of collection equipment X-direction in object space coordinate system, the ysFor representing that described image collecting device is empty in thing
Between in coordinate system Y direction coordinate information, the zsFor representing described image collecting device Z axis in object space coordinate system
The coordinate information in direction.
5. a kind of indoor positioning device, it is characterised in that include：
Image acquisition units, are continuously shot for controlling image capture device to target area, obtain the figure of target area
As information；
Image analyzing unit, for obtaining described image information in each characteristic point ID coding informations, according to getting
The id information determines the positional information of the characteristic point corresponding with the id information；
Rotation angle calculating unit, for obtaining the inner parameter information of described image collecting device, according to the inner parameter
Information is calculated what is rotated through around three axial coordinates when object space coordinate system is transformed into consistent with image space coordinate system attitude
Rotation angle information；
Coordinate calculating unit, for respectively that the positional information of each characteristic point and rotation angle information substitution is preferable
Imaging model, obtains multigroup ideal image model, and the multigroup ideal image model obtained by simultaneous is simultaneously solved, and obtains IMAQ
Positional information of the equipment in 3 d space coordinate system.
6. indoor positioning device according to claim 5, it is characterised in that also include：
Direction calculating unit, takes the photograph during for determining described image collecting device collection image information according to the rotation angle information
As hole towards directional information.
7. indoor positioning device according to claim 5, the corrected parameter information includes：
Translation rotation parameter a, b in the three-dimensional coordinate system of image capture device, the focal length f of image capture device, and
Deviation u of image capture device X-direction in image space coordinate system0With deviation v of Y direction0。
8. indoor positioning device according to claim 5, the coordinate calculating unit specifically for：
By respectively by the positional information of each characteristic point and rotation angle information substitution ideal image model：
Multigroup ideal image model is obtained, the multigroup ideal image model obtained by simultaneous is simultaneously solved, and obtains image capture device
Positional information in 3 d space coordinate system；
Wherein, described u, v represent coordinate of the characteristic point under image space coordinate system, the u0Represent that image capture device exists
The deviation of X-direction in image space coordinate system, the v0Represent image capture device in image space coordinate system Y direction it is inclined
Difference, wherein optical axis of the Z axis of the image space coordinate system for described image collecting device, a1Equal to cos εxcosεz-sin
εxsinεysinεz, a2Equal to-cos εxsinεz-sinεxsinεycosεz；a3Equal to-sin εxcosεy；b1Equal to cos εxsinεz；
b2Equal to cos εycosεz；b2Equal to-sin εy；c1Equal to sin εxcosεz+cosεxsinεysinεz；c2Equal to-sin εxsinεz+
cosεxsinεycosεz；c3Equal to cos εxcosεy, the εxIt is transformed into and image space coordinate system attitude one for object space coordinate system
The rotation angle information rotated through around X-axis during cause, the εyIt is transformed into and image space coordinate system attitude for object space coordinate system
The rotation angle information rotated through around Y-axis when consistent, the εzIt is transformed into and image space coordinate system appearance for object space coordinate system
The rotation angle information rotated through around X-axis when state is consistent；The x is used to represent characteristic point X in object space coordinate system
Axial coordinate value information, y is used to represent the coordinate value information of characteristic point Y direction in object space coordinate system that z to be used
In the coordinate value information for representing characteristic point Z-direction in object space coordinate system；The xsFor representing that described image is adopted
The coordinate information of collection equipment X-direction in object space coordinate system, the ysFor representing that described image collecting device is empty in thing
Between in coordinate system Y direction coordinate information, the zsFor representing described image collecting device Z axis in object space coordinate system
The coordinate information in direction.
9. a kind of mobile terminal, it is characterised in that application is had the right indoor positioning device disclosed in requirement 5-8 any one.
10. mobile terminal according to claim 9, it is characterised in that described image collecting device is mobile phone camera.
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