CN107153188A - A kind of indoor orientation method and system - Google Patents

A kind of indoor orientation method and system Download PDF

Info

Publication number
CN107153188A
CN107153188A CN201710352089.1A CN201710352089A CN107153188A CN 107153188 A CN107153188 A CN 107153188A CN 201710352089 A CN201710352089 A CN 201710352089A CN 107153188 A CN107153188 A CN 107153188A
Authority
CN
China
Prior art keywords
light source
frequency
selected
imaging plane
according
Prior art date
Application number
CN201710352089.1A
Other languages
Chinese (zh)
Inventor
韩石
韩一石
刘盼
胡纪坤
程强
Original Assignee
广东工业大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 广东工业大学 filed Critical 广东工业大学
Priority to CN201710352089.1A priority Critical patent/CN107153188A/en
Publication of CN107153188A publication Critical patent/CN107153188A/en

Links

Classifications

    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S11/00Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/12Systems for determining distance or velocity not using reflection or reradiation using electromagnetic waves other than radio waves
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G01C11/04Interpretation of pictures

Abstract

This application discloses a kind of indoor orientation method and system, including:Set up frequency coordinate database;According to frequency coordinate database, the light source of several diverse location coordinates is driven to send the light of different frequency;Light source is shot, the frequency values of at least three selected light sources are obtained;Camera imaging plane for shooting is parallel to each other with plane where light source, and at least three selected light sources are not arranged on the same straight line;According to frequency values and frequency coordinate database, it is determined that the position coordinates of selected light source;According to the position coordinates of selected light source, and the light source selected imaging and relative position of imaging plane central point on imaging plane, determine the position coordinates of imaging plane central point subpoint of plane where light source.The above-mentioned indoor orientation method that the application is provided is simple and easy to apply, is easy to implement being accurately positioned indoors, and its positioning precision is high, can be accurately positioned the position being currently located, complexity is low, and the exploitativeness of system is preferable.

Description

A kind of indoor orientation method and system

Technical field

The present invention relates to visible light communication and image processing field, more particularly to a kind of indoor orientation method and system.

Background technology

According to statistics the time of the people 80% of modern society be it is movable indoors, for example megastore, underground parking, The large-scale indoor carry out activity such as library, museum.The indoor locating system of current main flow rely primarily on wireless network (WiFi), Infrared, ultrasonic wave, ultra wide band, radio frequency identification (Radio Frequency Identification, abbreviation RFID) technology etc., by In use it is mostly be radiofrequency signal, in the air propagate when be easily disturbed and can not be used in same microwave circuit, same direction Same frequency, special screne such as aircraft, hospital's radiofrequency signal use by control, gradually expose radio communication system The limitation of system.

Therefore, how to provide a kind of more effective, precision, in meter level or even higher indoor orientation method and system, is ability Field technique personnel technical problem urgently to be resolved hurrily.

The content of the invention

In view of this, it is an object of the invention to provide a kind of indoor orientation method and system, it is easy to implement indoors It is accurately positioned, its positioning precision is high, and complexity is low, and the exploitativeness of system is preferable.Its concrete scheme is as follows:

A kind of indoor orientation method, including:

Set up frequency-coordinate database;

According to the frequency-coordinate database, the light source of several diverse location coordinates is driven to send the light of different frequency;

The light source is shot, the frequency values of at least three selected light sources are obtained;Shooting for shooting Head imaging plane is parallel to each other with plane where the light source, and at least three selected light sources are not in same straight line On;

According to the frequency values and the frequency-coordinate database, it is determined that the position coordinates of the selected light source;

According to the position coordinates of the selected light source, and the selected light source is formed on the imaging plane As the relative position with the imaging plane central point, the throwing of imaging plane central point plane where the light source is determined The position coordinates of shadow point.

Preferably, in above-mentioned indoor orientation method provided in an embodiment of the present invention, the light source is shot, obtained The frequency values of at least three selected light sources, are specifically included:

The light source is shot, stripe pattern is formed;

The stripe pattern is handled, the frequency values of at least three selected light sources are obtained.

Preferably, in above-mentioned indoor orientation method provided in an embodiment of the present invention, the stripe pattern is handled, The frequency values of at least three selected light sources are obtained, are specifically included:

The stripe pattern is pre-processed, noise is removed;

Each light source subregion is partitioned into the stripe pattern after removing noise;

At least three selected light source subregions are handled, the striped of the selected light source subregion is obtained Width;

According to the selected width of fringe, the frequency of the light source corresponding with the width of fringe selected is calculated Value.

Preferably, in above-mentioned indoor orientation method provided in an embodiment of the present invention, calculate and select using following formula The frequency values of the corresponding light source of the fixed width of fringe:

F=PT/W

Wherein, F represents the frequency values of the light source, and W represents that the light source subregion is formed in a flicker cycle A light and dark width of fringe, P represents the height of single pixel, and T is the cycle of Rolling shutter.

Preferably, in above-mentioned indoor orientation method provided in an embodiment of the present invention, when selected light source is three, root According to the position coordinates of the selected light source, and the selected light source on the imaging plane imaging with it is described into The relative position of image plane central point, determines the position of imaging plane central point subpoint of plane where the light source Coordinate, is specifically included:

By three light sources and three light sources, the imaging on the imaging plane is linked to be triangle respectively, meter Calculate each length of side for two triangles being linked to be;

According to each length of side for two triangles being linked to be, and the selected light source is formed on the imaging plane As the relative position with the imaging plane central point, the throwing of imaging plane central point plane where the light source is determined Shadow point is respectively to the distance of three light sources;

According to the subpoint respectively to three light sources position coordinates distance and the position coordinates of the light source, The position coordinates of the subpoint is calculated using trilateration location algorithm.

Preferably, in above-mentioned indoor orientation method provided in an embodiment of the present invention, the frequency values of the light source are more than 50Hz。

Preferably, in above-mentioned indoor orientation method provided in an embodiment of the present invention, the light source is light emitting diode.

The embodiment of the present invention additionally provides a kind of indoor locating system, including:

Database module, for setting up frequency-coordinate database;

Light source driver module, for according to frequency-coordinate database, driving the light source of several diverse location coordinates to send The light of different frequency;

Image capture module, for being shot to the light source;The imaging plane of described image acquisition module with it is described Plane where light source is parallel to each other;

Frequency acquisition module, the frequency values for obtaining at least three selected light sources;At least three selected institutes Light source is stated to be not arranged on the same straight line;

Light source coordinates determining module, for according to the frequency values and the frequency-coordinate database, it is determined that selected institute State the position coordinates of light source;

Point coordinates determining module is projected, for the position coordinates according to the selected light source, and the selected light Source imaging and relative position of the imaging plane central point on the imaging plane, determine the imaging plane center The position coordinates of point subpoint of plane where the light source.

Preferably, in above-mentioned indoor locating system provided in an embodiment of the present invention,

Described image acquisition module, specifically for being shot to the light source, forms stripe pattern;

The frequency acquisition module, specifically for handling the stripe pattern, obtains at least three selected institutes State the frequency values of light source.

A kind of indoor orientation method provided by the present invention and system, including:Set up frequency-coordinate database;According to frequency Rate-coordinate database, drives the light source of several diverse location coordinates to send the light of different frequency;Light source is shot, obtained Take the frequency values of at least three selected light sources;Camera imaging plane for shooting is parallel to each other with plane where light source, And at least three selected light source be not arranged on the same straight line;According to frequency values and frequency-coordinate database, it is determined that selected light The position coordinates in source;According to the position coordinates of selected light source, and selected light source on imaging plane imaging with into The relative position of image plane central point, determines the position coordinates of imaging plane central point subpoint of plane where light source.This Invent that the above-mentioned indoor orientation method that is provided is simple and easy to apply, be easy to implement being accurately positioned indoors, its positioning precision is high, can The position being currently located is accurately positioned, complexity is low, and the exploitativeness of system is preferable.

Brief description of the drawings

In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are only this The embodiment of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can also basis The accompanying drawing of offer obtains other accompanying drawings.

Fig. 1 is the flow chart of indoor orientation method provided in an embodiment of the present invention;

Fig. 2 is the particular flow sheet of indoor orientation method provided in an embodiment of the present invention;

Fig. 3 is the schematic diagram of a scenario of indoor orientation method provided in an embodiment of the present invention;

Fig. 4 is the schematic diagram of stripe pattern provided in an embodiment of the present invention;

The rectangle frame and rectangle frame center that Fig. 5 is formed for the border provided in an embodiment of the present invention for obtaining each striped are obtained Image;

Fig. 6 is the structure chart of indoor locating system provided in an embodiment of the present invention.

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 whole embodiments.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.

The present invention provides a kind of indoor orientation method, as shown in figure 1, comprising the following steps:

S101, set up frequency-coordinate database;

S102, according to frequency-coordinate database, drive the light source of several diverse location coordinates to send different frequency Light;

S103, light source is shot, obtain the frequency values of at least three selected light sources;For shooting camera into Image plane is parallel to each other with plane where light source, and at least three selected light sources are not arranged on the same straight line;

S104, according to frequency values and frequency-coordinate database, it is determined that the position coordinates of selected light source;

S105, the position coordinates according to selected light source, and selected light source on imaging plane imaging with into The relative position of image plane central point, determines the position coordinates of imaging plane central point subpoint of plane where light source.

In above-mentioned indoor orientation method provided in an embodiment of the present invention, frequency-coordinate database is initially set up;According to frequency Rate-coordinate database, drives the light source of several diverse location coordinates to send the light of different frequency;Then light source is clapped Take the photograph, obtain the frequency values of at least three selected light sources;Camera imaging plane and plane where light source for shooting is mutual It is parallel, and at least three selected light sources are not arranged on the same straight line;Afterwards according to frequency values and frequency-coordinate database, really Surely the position coordinates for the light source selected;Finally according to the position coordinates of selected light source, and the light source selected is in imaging plane Upper imaging and the relative position of imaging plane central point, determine the subpoint of imaging plane central point plane where light source Position coordinates.The indoor orientation method is simple and easy to apply, is easy to implement being accurately positioned indoors, and its positioning precision is high, can essence It is determined that the position that position is currently located, complexity is low, and the exploitativeness of system is preferable.

It should be noted that the frequency of light source is determined by frequency-coordinate database.Frequency-coordinate database is represented Frequency and coordinate are one-to-one relations.

Most of cameras for being used to shoot that generally we use are all based on cmos image sensor, such sensor Using Rolling shutter Exposure mode, pixel exposes line by line.For moving object, image can produce twist distortion, be referred to as " jelly effect Should ".In normal shoot, such case will be avoided, but we can realize communication process using this mechanism.When When camera shoots the light source of high frequency flicker on ceiling, due to the time difference of each row exposure of pixel, just generate light and dark Stripe pattern, then passes through image procossing, you can realize that the detection of optical signal frequency completes communication.

Therefore, in the specific implementation, in above-mentioned indoor orientation method provided in an embodiment of the present invention, step S103 is to light Source is shot, and the frequency values of at least three selected light sources is obtained, as shown in Fig. 2 specifically may comprise steps of:

S201, light source is shot, form stripe pattern;

S202, stripe pattern is handled, obtain the frequency values of at least three selected light sources.

Further, in the specific implementation, in above-mentioned indoor orientation method provided in an embodiment of the present invention, step is performed S202 is handled stripe pattern, is obtained the frequency values of at least three selected light sources, specifically be may comprise steps of:

Step 1: being pre-processed to stripe pattern, noise is removed;

Step 2: being partitioned into each light source subregion in the stripe pattern after removing noise;

Step 3: handling at least three selected light source subregions, the striped of selected light source subregion is obtained Width;

Step 4: according to selected width of fringe, calculating the frequency values of light source corresponding with the width of fringe selected.

As shown in figure 3, the light source of several different frequencies is generally embedded in the ceiling of localization region, under its light is in Formula is penetrated, when camera 1 shoots the light source of high frequency flicker on ceiling 2, due to the time difference of each row exposure of pixel, figure is just produced The light and dark stripe pattern shown in 4, chooses at least three selected light source subregion (light source sub-districts i.e. interested Domain), it is handled, the width of fringe of selected light source subregion can be obtained from Fig. 5.

Specifically, in the specific implementation, in above-mentioned indoor orientation method provided in an embodiment of the present invention, for above-mentioned step Rapid four, the frequency values of light source corresponding with the width of fringe selected are calculated using following formula:

F=PT/W

Wherein, F represents the frequency values (i.e. the time of the every row pixel exposure of imaging sensor) of light source, and W represents light source sub-district The light and dark width of fringe that domain is formed in a flicker cycle, P represents the height of single pixel, and T is roller shutter The cycle of shutter.

Because the height P of single pixel and the cycle T of Rolling shutter are the intrinsic parameter of camera, therefore, the frequency of light source Quantitative relation is there is with the inversely proportional relation of width of fringe, the i.e. frequency of light source and width of fringe.

In addition, the height P of single pixel and the value of cycle T of Rolling shutter can be obtained by calibrating, specifically, phase is allowed Machine recognizes a frequency known signal, such as 1kHz draws corresponding width of fringe, is closed according to width of fringe and frequency are proportional System calculates the product value of the height P of single pixel and the cycle T of Rolling shutter;Then the striped obtained in above-mentioned formula is utilized Width, finally calculates the frequency of now light source.

In the specific implementation, in above-mentioned indoor orientation method provided in an embodiment of the present invention, when selected light source is three When individual, according to the position coordinates of selected light source, and selected light source on imaging plane imaging with imaging plane The relative position of heart point, determines the position coordinates of imaging plane central point subpoint of plane where light source, can specifically wrap Include following steps:

First, three light sources and three light source imagings on imaging plane are linked to be triangle respectively, the company of calculating Into two triangles each length of side;

Then, according to each length of side for two triangles being linked to be, and the light source selected imaging on imaging plane With the relative position of imaging plane central point, determine the subpoint of imaging plane central point plane where light source respectively to three The distance of light source;

Finally, according to subpoint respectively to three light sources position coordinates distance and the position coordinates of light source, utilize three Side measurement and positioning algorithm calculates the position coordinates of subpoint.

Specifically, by taking Fig. 2 as an example, through the coordinate bit for performing three selected light source A, B, C being determined after step S103 Put, respectively A (x1, y1)、B(x2, y2)、C(x3, y3), three light sources are linked to be triangle, the length of side AB, AC, BC can be calculated Length;

Three light source imaging A on imaging plane known to againi、Bi、CiCoordinate bit in imaging plane coordinate system Put, respectively Ai(u1, v1)、Bi(u2, v2)、Ci(u3, v3), three light source imagings on imaging plane are linked to be triangle, Length of side A can be calculatediBi、AiCi、BiCiLength;

And then K values can be obtained, it is as follows:

Imaging plane central point O known to againiPosition coordinates O in imaging plane coordinate systemi(u, v), can be calculated OiAi、OiBi、OiCiLength;

Imaging plane central point O is calculated according to following equationiThe subpoint O of plane is respectively to three light sources where light source A, B, C apart from OA, OB, OC:

According to OA, OB, OC length and light source A, B, C position coordinates, throwing is calculated using trilateration location algorithm The position coordinates O (x, y) of shadow point:

(x-x1)2+(y-y1)2=OA2

(x-x2)2+(y-y2)2=OB2

(x-x3)2+(y-y3)2=OC2

In the specific implementation, in above-mentioned indoor orientation method provided in an embodiment of the present invention, the frequency of light source can be big In 50Hz, the frequency behaviour eye can't see the flicker of light, and because too high frequency can allow video camera to photograph clearly bar Line, so frequency range also needs to be determined according to the acquisition parameters of the mobile terminal for shooting etc..

In the specific implementation, in above-mentioned indoor orientation method provided in an embodiment of the present invention, light source can be luminous two The light source of pole pipe or other energy high frequency flickers.

Based on same inventive concept, the embodiment of the present invention additionally provides a kind of indoor locating system, because the system is solved The principle of problem is similar to a kind of foregoing indoor orientation method, therefore the implementation of the system may refer to the reality of indoor orientation method Apply, repeat part and repeat no more.

In the specific implementation, indoor locating system provided in an embodiment of the present invention, as shown in fig. 6, including:

Database module 11, for setting up frequency-coordinate database;

Light source driver module 12, for according to frequency-coordinate database, driving the light source of several diverse location coordinates to send out Go out the light of different frequency;

Image capture module 13, for being shot to light source;The imaging plane of image capture module where light source with putting down Face is parallel to each other;

Frequency acquisition module 14, the frequency values for obtaining at least three selected light sources;At least three is selected described Light source is not arranged on the same straight line;

Light source coordinates determining module 15, for according to frequency values and frequency-coordinate database, it is determined that the position of selected light source Put coordinate;

Project point coordinates determining module 16, for the position coordinates according to selected light source, and selected light source into Imaging and the relative position of imaging plane central point, determine imaging plane central point plane where light source in image plane The position coordinates of subpoint.

Further, in the specific implementation, in above-mentioned indoor locating system provided in an embodiment of the present invention,

Image capture module 13, specifically for being shot to light source, forms stripe pattern;

Frequency acquisition module 14, specifically for handling stripe pattern, obtains the frequency of at least three selected light sources Rate value.

A kind of indoor orientation method provided in an embodiment of the present invention and system, including:Set up frequency-coordinate database;Root According to frequency-coordinate database, the light source of several diverse location coordinates is driven to send the light of different frequency;Light source is clapped Take the photograph, obtain the frequency values of at least three selected light sources;Camera imaging plane and plane where light source for shooting is mutual It is parallel, and at least three selected light sources are not arranged on the same straight line;According to frequency values and frequency-coordinate database, it is determined that choosing The position coordinates of fixed light source;According to the position coordinates of selected light source, and selected light source is formed on imaging plane As the relative position with imaging plane central point, determine that the position of imaging plane central point subpoint of plane where light source is sat Mark.Above-mentioned indoor orientation method provided by the present invention is simple and easy to apply, is easy to implement being accurately positioned indoors, its positioning precision Height, can be accurately positioned the position being currently located, and complexity is low, and the exploitativeness of system is preferable.

Finally, in addition it is also necessary to explanation, herein, such as first and second or the like relational terms be used merely to by One entity or operation make a distinction with another entity or operation, and not necessarily require or imply these entities or operation Between there is any this actual relation or order.Moreover, term " comprising ", "comprising" or its any other variant meaning Covering including for nonexcludability, so that process, method, article or equipment including a series of key elements not only include that A little key elements, but also other key elements including being not expressly set out, or also include be this process, method, article or The intrinsic key element of equipment.In the absence of more restrictions, the key element limited by sentence "including a ...", is not arranged Except also there is other identical element in the process including the key element, method, article or equipment.

Indoor orientation method provided by the present invention and system are described in detail above, it is used herein specifically Individual example is set forth to the principle and embodiment of the present invention, and the explanation of above example is only intended to help and understands the present invention Method and its core concept;Simultaneously for those of ordinary skill in the art, according to the thought of the present invention, in specific implementation It will change in mode and application, in summary, this specification content should not be construed as limiting the invention.

Claims (9)

1. a kind of indoor orientation method, it is characterised in that including:
Set up frequency-coordinate database;
According to the frequency-coordinate database, the light source of several diverse location coordinates is driven to send the light of different frequency;
The light source is shot, the frequency values of at least three selected light sources are obtained;For shooting camera into Image plane is parallel to each other with plane where the light source, and at least three selected light sources are not arranged on the same straight line;
According to the frequency values and the frequency-coordinate database, it is determined that the position coordinates of the selected light source;
According to the position coordinates of the selected light source, and the selected light source on the imaging plane imaging with The relative position of the imaging plane central point, determines the subpoint of imaging plane central point plane where the light source Position coordinates.
2. indoor orientation method according to claim 1, it is characterised in that shot to the light source, is obtained at least The frequency values of three selected light sources, are specifically included:
The light source is shot, stripe pattern is formed;
The stripe pattern is handled, the frequency values of at least three selected light sources are obtained.
3. indoor orientation method according to claim 2, it is characterised in that handle the stripe pattern, obtain The frequency values of at least three selected light sources, are specifically included:
The stripe pattern is pre-processed, noise is removed;
Each light source subregion is partitioned into the stripe pattern after removing noise;
At least three selected light source subregions are handled, the striped for obtaining the selected light source subregion is wide Degree;
According to the selected width of fringe, the frequency values of the light source corresponding with the width of fringe selected are calculated.
4. indoor orientation method according to claim 3, it is characterised in that the institute for calculating and selecting using following formula State the frequency values of the corresponding light source of width of fringe:
F=PT/W
Wherein, F represents the frequency values of the light source, and W represents one that the light source subregion is formed in a flicker cycle Individual light and dark width of fringe, P represents the height of single pixel, and T is the cycle of Rolling shutter.
5. the indoor orientation method according to claim any one of 1-4, it is characterised in that when selected light source is three When, according to the position coordinates of the selected light source, and the selected light source on the imaging plane imaging with The relative position of the imaging plane central point, determines the subpoint of imaging plane central point plane where the light source Position coordinates, specifically include:
By three light sources and three light sources, the imaging on the imaging plane is linked to be triangle respectively, calculates Each length of side for two triangles being linked to be;
According to each length of side for two triangles being linked to be, and the selected light source on the imaging plane imaging with The relative position of the imaging plane central point, determines the subpoint of imaging plane central point plane where the light source Respectively to the distance of three light sources;
According to the subpoint respectively to three light sources position coordinates distance and the position coordinates of the light source, utilize Trilateration location algorithm calculates the position coordinates of the subpoint.
6. indoor orientation method according to claim 1, it is characterised in that the frequency values of the light source are more than 50Hz.
7. indoor orientation method according to claim 1, it is characterised in that the light source is light emitting diode.
8. a kind of indoor locating system, it is characterised in that including:
Database module, for setting up frequency-coordinate database;
Light source driver module, for according to the frequency-coordinate database, driving the light source of several diverse location coordinates to send The light of different frequency;
Image capture module, for being shot to the light source;The imaging plane of described image acquisition module and the light source Place plane is parallel to each other;
Frequency acquisition module, the frequency values for obtaining at least three selected light sources;At least three selected light Source is not arranged on the same straight line;
Light source coordinates determining module, for according to the frequency values and the frequency-coordinate database, it is determined that the selected light The position coordinates in source;
Point coordinates determining module is projected, is existed for the position coordinates according to the selected light source, and the selected light source Imaging and the relative position of the imaging plane central point, determine that the imaging plane central point exists on the imaging plane The position coordinates of the subpoint of plane where the light source.
9. indoor locating system according to claim 8, it is characterised in that
Described image acquisition module, specifically for being shot to the light source, forms stripe pattern;
The frequency acquisition module, specifically for handling the stripe pattern, obtains at least three selected light The frequency values in source.
CN201710352089.1A 2017-05-18 2017-05-18 A kind of indoor orientation method and system CN107153188A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710352089.1A CN107153188A (en) 2017-05-18 2017-05-18 A kind of indoor orientation method and system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710352089.1A CN107153188A (en) 2017-05-18 2017-05-18 A kind of indoor orientation method and system

Publications (1)

Publication Number Publication Date
CN107153188A true CN107153188A (en) 2017-09-12

Family

ID=59792977

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201710352089.1A CN107153188A (en) 2017-05-18 2017-05-18 A kind of indoor orientation method and system

Country Status (1)

Country Link
CN (1) CN107153188A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107734449A (en) * 2017-11-09 2018-02-23 陕西外号信息技术有限公司 A kind of outdoor assisted location method, system and equipment based on optical label

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105301561A (en) * 2015-05-07 2016-02-03 北京理工大学 Visible light high-precision indoor positioning method based on frequency division multiplexing
CN105430289A (en) * 2015-11-19 2016-03-23 广东顺德中山大学卡内基梅隆大学国际联合研究院 Method for detecting flicker frequency of LED based on CMOS image sensor
CN106338712A (en) * 2016-10-21 2017-01-18 泉州装备制造研究所 Visible light indoor positioning method and system based on camera communication
CN106597374A (en) * 2016-11-09 2017-04-26 北京大学 Indoor visible positioning method and system based on camera shooting frame analysis

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105301561A (en) * 2015-05-07 2016-02-03 北京理工大学 Visible light high-precision indoor positioning method based on frequency division multiplexing
CN105430289A (en) * 2015-11-19 2016-03-23 广东顺德中山大学卡内基梅隆大学国际联合研究院 Method for detecting flicker frequency of LED based on CMOS image sensor
CN106338712A (en) * 2016-10-21 2017-01-18 泉州装备制造研究所 Visible light indoor positioning method and system based on camera communication
CN106597374A (en) * 2016-11-09 2017-04-26 北京大学 Indoor visible positioning method and system based on camera shooting frame analysis

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107734449A (en) * 2017-11-09 2018-02-23 陕西外号信息技术有限公司 A kind of outdoor assisted location method, system and equipment based on optical label

Similar Documents

Publication Publication Date Title
CN103019643B (en) A kind of large screen projection automatic calibration of plug and play and splicing display method
Mueggler et al. Event-based, 6-DOF pose tracking for high-speed maneuvers
CN104634276B (en) Three-dimension measuring system, capture apparatus and method, depth computing method and equipment
CN103868460B (en) Binocular stereo vision method for automatic measurement based on parallax optimized algorithm
CN104457569B (en) A kind of large-scale composite board geometric parameter vision measuring method
CN101226057B (en) Digital close range photogrammetry method
CN105234943B (en) A kind of industrial robot teaching device and method of view-based access control model identification
CN102914294B (en) System and method for measuring unmanned aerial vehicle electrical line patrol on basis of images
CN104299261B (en) Three-dimensional imaging method and system for human body
CN104240236B (en) A kind of method of correcting fisheye image after fish eye lens demarcation
CN105137390B (en) A kind of indoor orientation method based on adjustable transmission power AP
CN103226830B (en) The Auto-matching bearing calibration of video texture projection in three-dimensional virtual reality fusion environment
CN103226838A (en) Real-time spatial positioning method for mobile monitoring target in geographical scene
CN104778690B (en) A kind of multi-target orientation method based on camera network
CN104200086A (en) Wide-baseline visible light camera pose estimation method
CN103888741B (en) The geometry correction householder method of project image, Apparatus and system
CN103837869B (en) Based on single line laser radar and the CCD camera scaling method of vector relations
CN203479257U (en) Mobile phone device for measuring space object
CN101033966A (en) Photography measurement method of scene of a traffic accident
CN103697815B (en) Mixing structural light three-dimensional information getting method based on phase code
CN105116911B (en) Unmanned plane spray method
CN102494635B (en) Wind tunnel model ice shape measuring method and device
CN104236521A (en) Line-laser ranging method applied to auto-moving robots
CN103090883A (en) Device and method for calibrating dynamic tracking precision of photoelectric tracking system
WO2016061892A1 (en) Multi-receiving-point geometrical center locating system and method for visible light communication

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination