CN107345812A - A kind of image position method, device and mobile phone - Google Patents
A kind of image position method, device and mobile phone Download PDFInfo
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- CN107345812A CN107345812A CN201610296327.7A CN201610296327A CN107345812A CN 107345812 A CN107345812 A CN 107345812A CN 201610296327 A CN201610296327 A CN 201610296327A CN 107345812 A CN107345812 A CN 107345812A
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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
- G01C21/20—Instruments for performing navigational calculations
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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
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
Abstract
The invention discloses a kind of image position method, by obtaining image information, image information is matched with the characteristic point in pre-set image information, the actual geographic position according to corresponding to matching result obtains described image information, information generation actual geographic position as corresponding to image information to the route planning information of target geographic position, and plays image and Voice Navigation according to the map.This method can be quickly generated by the route information of user's present position to preset target position, indoors under environment, the sign picture of the photo module floor carried by mobile terminal can obtain the current indoor position where itself, effectively increase indoor positioning speed and precision, it is and relatively low to mobile device hardware requirement, it is easy to accomplish；In addition, the invention also discloses the mobile phone of a kind of image positioning device and the application image positioning device.
Description
Technical field
The present invention relates to positioning and navigation field, and in particular to a kind of image position method, system and mobile phone.
Background technology
The existing indoor positioning technologies based on image focus mostly in the indoor navigation field of robot, it is and relatively fewer if being integrated in the indoor positioning technologies of mobile terminal (such as mobile phone, tablet personal computer), the development that the hardware condition limitation of GPS function limitations and mobile terminal under indoor environment causes the technology is more slow, but constantly rise with the popularity rate of mobile terminal, people are also gradually stepping up for the various functions demand of mobile terminal, and indoor positioning technologies are exactly one of focal spot techniques of concern.
At present, existing indoor positioning achievement includes：Wide area indoor positioning technologies and local indoor positioning technologies.
Wide area indoor positioning technologies usually require to transform the EM equipment module such as base station and chip for cell phone, and cost is huge, the R＆D cycle is longer.Local indoor positioning technologies cost is relatively low, the cycle is short, but requires higher to the hardware configuration of mobile terminal, causes position stability poor.
Therefore how to develop that a kind of locating speed is fast, precision is high, lower-cost indoor positioning technologies become this area urgent problem to be solved.
The content of the invention
The present invention for solves the problems, such as existing indoor positioning technologies speed compared with slowly, precision is relatively low and cost is higher, there is provided a kind of image position method, device and mobile phone.
In a first aspect, the present invention proposes a kind of image position method, including：
Obtain image information；
Described image information is matched with pre-set image information；
The actual geographic position according to corresponding to matching result obtains described image information；
Generate as corresponding to described image information actual geographic position to target geographic position route planning information.
Further, it is described to be matched described image information with pre-set image information, including：
The characteristic point of described image information is obtained, and the characteristic point of described image information is converted into data signal；
Whole characteristic points of the pre-set image information are obtained, and the whole characteristic point of the pre-set image information is respectively converted into data signal；
The characteristic point of described image information is obtained successively relative to the Hamming distance of each characteristic point of the pre-set image information；
Choose the minimum value and sub-minimum in whole Hamming distances；
Judge whether the minimum value of the Hamming distance and the ratio of sub-minimum are less than proportion threshold value；If the ratio is less than or equal to proportion threshold value, the Feature Points Matching success of described image information；If the ratio is more than proportion threshold value, the Feature Points Matching failure of described image information.
Characteristic point in the acquisition image information, including：
Described image information is converted into gray-scale map；
Obtain the characteristic point in the gray-scale map；
The difference of the gray value of the gray value of pixel pixel adjacent thereto is more than or equal to gray threshold corresponding to the characteristic point of the gray-scale map.
Specifically, the data signal is 256 bit binary number signals.
Further, after the Feature Points Matching success of described image information, the invalid data in matching result is eliminated by RANSAC algorithms.
Further, after the Feature Points Matching success of described image information, actual geographic position corresponding to described image information is obtained；Actual geographic position corresponding to described image information includes described image information the coordinate value in map coordinates system.
Further, obtain corresponding to described image information behind actual geographic position, according to cartographic information generation as corresponding to described image information actual geographic position to target geographic position route planning information.
Further, the target geographic position be user be manually entered or the pre-set image information that is obtained in the cartographic information corresponding to actual geographic position.
Further, after generating the route planning information, video information and/or audio-frequency information are played.
Specifically, the cartographic information includes offline map and/or Online Map.
Second aspect：The present invention proposes a kind of image positioning device.
Described device includes image acquisition units, data matching unit, positioning unit and route planning unit；
Described image collecting unit is used to obtain image information, and by described image information transfer to the data matching unit；
The data matching unit is used to be matched described image information with pre-set image information, and matching result is transmitted to the positioning unit；
The positioning unit is used for the actual geographic position according to corresponding to matching result obtains described image information, and by actual geographic location transmission corresponding to described image information to the route planning unit；
The route planning unit is used to cease actual geographic position corresponding to generation described image information to the route planning information of target geographic position.
Further, the data matching unit includes data extraction subelement, data conversion subelement, judgment sub-unit；
The data extraction subelement is used to obtain the characteristic point of described image information and whole characteristic points of the pre-set image information, it is additionally operable to obtain the characteristic point of described image information relative to the Hamming distance of each characteristic point of the pre-set image information, is additionally operable to obtain minimum value and sub-minimum in whole Hamming distances；
The data conversion word cell is used to whole characteristic points of the characteristic point of described image information and the pre-set image information being converted to binary digital signal；
The judgment sub-unit is used to judge whether the minimum value of the Hamming distance and the ratio of sub-minimum are less than proportion threshold value；If the ratio is less than or equal to proportion threshold value, the Feature Points Matching success of described image information；If the ratio is more than proportion threshold value, the Feature Points Matching failure of described image information.
Further, described device also includes data-optimized unit, for after the success of the Feature Points Matching of described image information, the invalid data in matching result to be eliminated by RANSAC algorithms.
Further, described device also includes broadcast unit, for after the route planning information is generated, playing video information and/or audio-frequency information.
Further, described device also includes memory cell, for storing map information, the pre-set image information and target geographic position.
Further, described device also includes network signal transmission unit, for accessing offline map and/or Online Map.
The third aspect, the present invention propose a kind of mobile phone.
The mobile phone includes a kind of image positioning device that second aspect of the present invention is recorded.
The present invention can be quickly generated by the route information of user's present position to preset target position, and be accompanied by image and voice message by the way that the image information of current shooting and the image information to prestore are carried out into Data Matching after the match is successful.Under the terrain environment of complexity, especially indoor environment, the sign picture of the photo module floor carried by mobile terminal can obtain the current indoor position where itself, effectively increase indoor positioning speed and precision, it is and relatively low to mobile device hardware requirement, it is easy to accomplish.
Brief description of the drawings
Fig. 1 is a kind of step schematic flow sheet of image position method of the present invention；
Fig. 2 is the specific steps schematic flow sheet that image information matches in Fig. 1；
Fig. 3 is that the characteristic point of image information and pre-set image information compares schematic diagram；
The erroneous matching schematic diagram that Fig. 4 compares for the characteristic point of image information and pre-set image information；
Fig. 5 is the image position method steps flow chart schematic diagram of an embodiment of the present invention；
Fig. 6 is the image position method steps flow chart schematic diagram of an embodiment of the present invention；
Fig. 7 is the image position method steps flow chart schematic diagram of an embodiment of the present invention；
Fig. 8 is a kind of module connection diagram of image positioning device of the present invention；
Fig. 9 is a kind of internal module connection diagram of mobile phone of the present invention.
The present invention is described in more detail with reference to the accompanying drawings and detailed description, protection scope of the present invention is not limited to following embodiments.
Embodiment
As shown in figure 1, a kind of image position method, specifically comprises the following steps：
Embodiment 1
S101：Obtain image information；
Static image information is obtained by image capture device (mobile phone, the camera that such as carry camera), the static image information includes the static images of common format, such as JPEG, TIFF, RAW, BMP.
S102：Described image information is matched with pre-set image information；
Described image information is the static image information for referring to get in S101 steps, and to ensure the success rate of Data Matching, the full content of the pre-set image information should be covered in the static image information；
Specifically matching process comprises the following steps, as shown in Figure 2：
S1021：The characteristic point of described image information and the characteristic point of the pre-set image information are extracted by ORB algorithms (Oriented Fast and Rotated Brief), is specially：
Described image information is converted into gray-scale map, the gray-scale map is the pixel map of no color data；
Obtain the characteristic point of the gray-scale map；
The difference of the gray value of the gray value of pixel pixel adjacent thereto is more than or equal to gray threshold corresponding to the characteristic point of the gray-scale map.Neighbor pixel refers to the pixel being in contact with the pixel border where characteristic point.
Specifically, the characteristic point for needing to extract should be whole characteristic points of described image information, and whole characteristic points of the pre-set image information, the characteristics of in view of image procossing, the characteristic point quantity finally extracted may be more than whole characteristic point quantity (i.e. invalid data) of described image information.
S1022：Whole characteristic points of whole characteristic points of described image information and the pre-set image information are respectively converted into by binary digital signal by rBRIEF (rotated Binary Robust Independent Elementary Feature) algorithm；
Specifically, the binary digital signal is 256 position digital signals.
The method for generating data signal is tao criterions, as described in formula 1：
256 pixels pair i.e. around comparative feature point, form the 0 of 256 or 1 binary character.
S1023：Hamming distance between the binary digital signal in the characteristic point and pre-set image information of described image information is calculated by the way of violence is greedy；Violence greediness is the specific term in images match field, refers to obtain characteristic point all in image information, is specially：
Obtain first characteristic point in described image information, referred to as characteristic point I；
Obtain Hamming distances of the characteristic point I relative to each characteristic point in pre-set image information, it is assumed that there are 10 characteristic points in pre-set image information, then 10 Hamming distances will be obtained；
In all Hamming distances got, the minimum value and sub-minimum of Hamming distance are extracted；
By making the minimum value divided by sub-minimum of the Hamming distance, a ratio is obtained, judges whether the ratio is less than or equal to proportion threshold value；
Proportion threshold value is generally 0.6 times of image maximum matching distance, and images match distance refers to the characteristic point of described image information relative to the maximum of the Hamming distance of the characteristic point of the pre-set image information.
If the ratio is less than or equal to the proportion threshold value, show that the match is successful by the characteristic point I, otherwise it fails to match.
Similarly, above-mentioned matching step is also performed to remaining characteristic point in described image information, completes the matching of whole characteristic points in described image information, as shown in figure 3, the characteristic point that Fig. 3 is described image information and pre-set image information compares schematic diagram.
S1024：After the matching of whole characteristic points in completing described image information, erroneous matching pair that may be present in S203 steps is eliminated by RANSAC (RANdom Sample Consensus) algorithm；As shown in figure 4, Fig. 4 is the error matching points schematic diagram during Feature Points Matching；
Because the extraction of characteristic point is the brightness data based on pixel in gray-scale map as basis for selecting, therefore choosing for characteristic point can be influenceed by the quality of shooting picture, therefore can eliminate caused invalid data in this case using RANSAC algorithms, detailed process be for：
The basis matrix F of described image information and pre-set image information is calculated by Feature Points Matching result, when characteristic point meets XFY=0, then it is assumed that be that the characteristic point currently compared is accurate；Wherein, X is the characteristic point in described image information/pre-set image information, and Y is the characteristic point in the corresponding pre-set image information/image information.As XFY ≠ 0, then it is assumed that the characteristic point currently compared is inaccurate, belongs to erroneous matching, i.e. characteristic point in piece image does not find corresponding Feature Points Matching in another piece image.
For the Feature Points Matching of mistake, there may be a large amount of other erroneous matchings due to the higher-dimension of feature space, in similar distance.By reducing proportion threshold value, the matching number of characteristic point can be reduced accordingly, but the stability matched is higher, and vice versa.Meanwhile after Feature Points Matching, eliminate erroneous matching with RANSAC algorithms, obtain more accurate Feature Points Matching result, ensure matching error less than 1.8% (1delta is horizontal), positioning precision is in (EDrawing+ 0.5) within m：EDrawingRepresent the error (such as Drawing Error is 0.1m, then the position error that project is allowed is 0.1+0.5=0.6m) of equipment used in drawing.
S103：The actual geographic position according to corresponding to matching result obtains described image information；
The representation of actual geographic position is corresponding to described image information：Locus corresponding to characteristic point, the locus is showed in the form of three-dimensional coordinate point, i.e. (x, y, z), by taking indoor positioning as an example, the three-dimensional coordinate point is that certain orientation is change in coordinate axis direction using a certain fixed point in floor as origin, set up the locus coordinate system of floor, it is that the image information corresponds to Dare actual geographic position to measure three-dimensional coordinate (x, y, z) of four summits of each image information under this coordinate system.
In actual applications, such as fire-fighting domain, when user shoots a current fire-fighting logos into static images, after succeeding with default fire symbol images match, the information of acquisition is the actual geographic position (shooting the actual geographic position where the user of the current fire-fighting logos) where current fire symbol image, and user and the distance of the current fire symbol image.
It should be clear that：When user changes self-position, current location that can not be residing for real-time update itself, user needs to reacquire image information, by the way that the image information newly got is matched with pre-set image information, to update the positioning based on image information.
S104：Obtain user current location after, according to the map information generation as corresponding to described image information actual geographic position to target geographic position route planning information.
Specifically, the route planning information refers to as the route information of the actual geographic position where described image information to preset target position, the information (such as extra exit, the fire symbol for closing on particular location) that target geographic position can be the positional information that is manually entered in advance by user or user selects in cartographic information.
Further illustrate, cartographic information can be offline map or Online Map；
Offline map is pre-stored in local storage, when network environment is by limited time, can be directly read by local storage, and contains pre-set image information in offline map, and target geographic position is used as so that user chooses；Online Map is stored in the webserver, can be accessed by network remote, and preset picture information is equally contained in Online Map.It is understood that when user is in network limited environment, offline map can be only used.
Preferably, cartographic information can be automatically generated by SLAM technologies (simultaneous localization and mapping, instant positioning and map building).
Embodiment 2
As shown in figure 5, the present embodiment is compared with Example 1, difference is to add video playback step, is specially：
S201：Generate as corresponding to described image information actual geographic position to target geographic position route planning information.
S202：Video information is played, the video information includes the video pictures corresponding with the route planning information, such as track route prompting, current location prompting information；
Video information shows user by player, and user prompts according to video information, can accurately obtain track route, so as to quickly reach preset target position.
Further, change with the position of user, after new image information is got and the match is successful, route planning information can just update, and be shown to the route planning information of user also by synchronized update.
Using above-mentioned image position method, it is ensured that location efficiency is no more than 1s, that is, refers to the image information for receiving user's shooting, and that completes to position total time is no more than 1s.
Embodiment 3
As shown in fig. 6, the present embodiment is compared with Example 1, difference is to add speech play step, is specially：
S301：Generate as corresponding to described image information actual geographic position to target geographic position route planning information.
S302：Audio-frequency information is played, the audio-frequency information includes the information of voice prompt corresponding with the route planning information.User can accurately obtain track route, so as to quickly reach preset target position according to voice message.
Further, change with the position of user, after new image information is got and the match is successful, route planning information can just update, and play to the voice messaging of user also by synchronized update.
Embodiment 4
In another embodiment, it is image ambiguity problem existing for the above-mentioned image position method of solution use, adds the matching step of coding information；
Image ambiguity problem, refer in different geographical position, the logos of uniform type may be set, and user by one of logos when being positioned, the logos of some other same type may be identified as, cause positioning precision relatively low, the phenomenon that this identical image mark appears in diverse location is defined as the ambiguity of image.
In addition, when site environment do not allow to take pictures or take pictures hardware module break down lead to not take pictures when, the matching step of coding information can also be used, i.e. the matching step of coding information can be used in combination with the image position method of 1~embodiment of embodiment 3, can also independently use.
As shown in fig. 7, coding information matching step comprises the following steps that：
S401：Obtain coding information；
Coding information is primarily referred to as the character string information in similar fire-fighting label, and character string includes English character, numeral and any combination mode of the two；
Coding information is to be manually entered by user or image scanning mode inputs.
S402：The coding information of input is compared with preset encoding information；
Specifically, preset encoding information is stored in cartographic information, after user's input coding information, the coding information is carried out into character one by one with default coding information and compared.
S403：Judge whether coding information is identical with default coding information.
S404：If the coding information is identical with default coding information (i.e. character length, character content all same), the match is successful for coding information.
S405：If the coding information differs (i.e. character length and/or character content differs) with default coding information, it fails to match for coding information.
Embodiment 5
As shown in figure 8, the present invention proposes a kind of image positioning device.
Described device includes image acquisition units, data matching unit, positioning unit and the route planning unit being sequentially connected.
Described image collecting unit is used to obtain image information, and by described image information transfer to the data matching unit.Described image collecting unit specifically includes at least one piece of camera.
The data matching unit is used to be matched described image information with pre-set image information, and matching result is transmitted to the positioning unit；
The data matching unit may include trigger switch, and for startup/stopping of control data matching feature, the trigger switch can be mechanical switch or electronic switch, pass through user's control.When trigger data matching unit starts, described image collecting unit transmits the image information got to data matching unit, to obtain the characteristic point of image information；
Meanwhile described device also includes memory, data matching unit electrically connects with memory, by obtaining the pre-set image information in memory, to obtain the characteristic point of pre-set image information.
The positioning unit is used for the actual geographic position according to corresponding to matching result obtains described image information, and by actual geographic location transmission corresponding to described image information to the route planning unit.
The route planning unit is used for information according to the map and generates actual geographic position corresponding to described image information to the route planning information of target geographic position.
Specifically, the data matching unit includes data extraction subelement, data conversion subelement, judgment sub-unit and the data-optimized subelement being sequentially connected；
The data extraction subelement is used to obtain the characteristic point of described image information and whole characteristic points of the pre-set image information, it is additionally operable to obtain the characteristic point of described image information relative to the Hamming distance of each characteristic point of the pre-set image information, is additionally operable to obtain minimum value and sub-minimum in whole Hamming distances；
The data conversion subelement is used to whole characteristic points of the characteristic point of described image information and the pre-set image information being converted to binary digital signal；
The judgment sub-unit is used to judge whether the minimum value of the Hamming distance and the ratio of sub-minimum are less than proportion threshold value；If the ratio is less than or equal to proportion threshold value, the Feature Points Matching success of described image information；If the ratio is more than proportion threshold value, the Feature Points Matching failure of described image information.
Data-optimized subelement is used for after the Feature Points Matching success of described image information, and the invalid data in matching result is eliminated by RANSAC algorithms.
Further, described device also includes broadcast unit, and broadcast unit includes display (light-emitting diode display, liquid crystal display etc.)；The display is used for after the route planning information is generated, and plays the video information corresponding with the route planning information.
Further, broadcast unit also includes loudspeaker；After institute's speech units generate the route planning information, the audio-frequency information corresponding with the route planning information is played.
Embodiment 6
As shown in figure 9, a kind of mobile phone, including image positioning device as described in Example 5.
Wherein, core of the CPU processor of mobile phone as data processing, can be as the data matching unit in image positioning device；
Navigation module built in mobile phone can be used as positioning unit and navigation elements, and to obtain actual geographic position corresponding to described image information, and information generates actual geographic position corresponding to described image information to the route planning information of target geographic position according to the map.
Mobile phone camera (preceding camera and/or rear camera) can be used as image acquisition units, to obtain static image information.
The internal or external storage card of mobile phone can be used as memory, to store offline map office.
Mobile network's module of mobile phone is used to access Online Map.
The touch-screen of mobile phone can be used as display, to play the video information corresponding with the route planning information.
The loudspeaker of mobile phone can play the audio-frequency information corresponding with the route planning information.
In the specific embodiment that one is applied to fire-fighting domain, user shoots the fire symbol in current environment by mobile phone, picture containing fire symbol is scanned by mobile phone CPU processor, and call the default fire symbol picture that cartographic information is preset in internal memory, compare the characteristic point information of captured fire symbol and default fire symbol, after the match is successful, the core CPU processor of mobile phone controls the navigation module to obtain the current location where user, and generate as the route planning information of the current location where user to target geographic position, and user is showed by mobile phone display screen；Meanwhile mobile phone CPU processor reads the audio-frequency information to prestore, and user is played to by loudspeaker.
In addition, when the position of user changes, user can shoot the fire symbol picture after more new position again by mobile phone, to update the current location where user to the route planning information of target geographic position；
On the other hand, if site environment is limited not to allow user's progress mobile phone shooting, user can input the coding information of the fire symbol of current location by touch-screen, it is whether consistent that the preset encoding information to be prestored in inputted coding information and memory is compared by mobile phone CPU processor, after matched success, mobile phone CPU processor controls the navigation module to obtain the current location where user, and generate as the route planning information of the current location where user to target geographic position, and user is showed by mobile phone display screen；Meanwhile mobile phone CPU processor reads the audio-frequency information to prestore, and user is played to by loudspeaker.
Above-mentioned technical proposal is one embodiment of the present invention, for those skilled in the art, on the basis of the invention discloses application process and principle, it is easy to make various types of improvement or deformation, it is not limited solely to the structure described by the above-mentioned embodiment of the present invention, therefore previously described mode simply preferably, and not restrictive meaning.
Claims (17)
- A kind of 1. image position method, it is characterised in that：Including：Obtain image information；Described image information is matched with pre-set image information；The actual geographic position according to corresponding to matching result obtains described image information；The route planning for generating actual geographic position to target geographic position as corresponding to described image information is believed Breath.
- A kind of 2. image position method according to claim 1, it is characterised in that：It is described to be matched described image information with pre-set image information, including：The characteristic point of described image information is obtained, and the characteristic point of described image information is converted into data signal；Obtain whole characteristic points of the pre-set image information, and by whole features of the pre-set image information Point is respectively converted into data signal；The characteristic point of described image information is obtained successively relative to each characteristic point of the pre-set image information Hamming distance；Choose the minimum value and sub-minimum in all Hamming distances；Judge whether the minimum value of the Hamming distance and the ratio of sub-minimum are less than proportion threshold value；If the ratio Value is less than or equal to proportion threshold value, then the Feature Points Matching success of described image information；If the ratio is more than The Feature Points Matching failure of proportion threshold value, then described image information.
- A kind of 3. image position method according to claim 2, it is characterised in that：Characteristic point in the acquisition image information, including：Described image information is converted into gray-scale map；Obtain the characteristic point of the gray-scale map；The difference of the gray value of the gray value of pixel pixel adjacent thereto corresponding to the characteristic point of the gray-scale map Value is more than or equal to gray threshold.
- A kind of 4. image position method according to claim 2, it is characterised in that：The data signal is 256 bit binary number signals.
- A kind of 5. image position method according to claim 2, it is characterised in that：After the Feature Points Matching success of described image information, the nothing in matching result is eliminated by RANSAC algorithms Imitate data.
- A kind of 6. image position method according to claim 3, it is characterised in that：After the Feature Points Matching success of described image information, actual geographic position corresponding to described image information is obtained Put；Actual geographic position corresponding to described image information includes described image information the seat in map coordinates system Scale value.
- A kind of 7. image position method according to claim 6, it is characterised in that：After obtaining actual geographic position corresponding to described image information, information generation is by described image according to the map Actual geographic position corresponding to information to target geographic position route planning information.
- A kind of 8. image position method according to claim 7, it is characterised in that：The target geographic position is the pre-set image letter that user is manually entered or obtained in the cartographic information Actual geographic position corresponding to breath.
- A kind of 9. image position method according to claim 7, it is characterised in that：After generating the route planning information, video and/or audio information is played.
- A kind of 10. image position method according to claim 7, it is characterised in that：The cartographic information includes offline map and/or Online Map.
- A kind of 11. image positioning device, it is characterised in that：Described device includes image acquisition units, data matching unit, positioning unit and route planning unit；Described image collecting unit is used to obtain image information, and by described image information transfer to the data Matching unit；The data matching unit is used to be matched described image information with pre-set image information, and general Transmitted with result to the positioning unit；The positioning unit is used for the actual geographic position according to corresponding to the matching result obtains described image information Put, and by the actual geographic location transmission to the route planning unit；The route planning unit is used to generate as corresponding to described image information that actual geographic position to be to target Manage the route planning information of position.
- A kind of 12. image positioning device according to claim 11, it is characterised in that：The data matching unit includes data extraction subelement, data conversion subelement, judgment sub-unit；The data extraction subelement is used to obtain the characteristic point of described image information and the pre-set image information Whole characteristic points；The data extraction subelement is additionally operable to obtain the characteristic point of described image information relative to the default figure As the Hamming distance of each characteristic point of information；The data extraction subelement is additionally operable to obtain minimum value and sub-minimum in all Hamming distances；The data conversion subelement is used to the characteristic point of described image information being converted to data signal；The data conversion subelement is additionally operable to whole characteristic points of the pre-set image information being converted to numeral Signal；The judgment sub-unit is used to judge whether the minimum value of the Hamming distance and the ratio of sub-minimum are less than Proportion threshold value；If the ratio is less than or equal to proportion threshold value, the Feature Points Matching of described image information into Work(；If the ratio is more than proportion threshold value, the Feature Points Matching failure of described image information.
- A kind of 13. image positioning device according to claim 12, it is characterised in that：Described device also includes data-optimized unit, for the Feature Points Matching of described image information success after, Invalid data in matching result is eliminated by RANSAC algorithms.
- A kind of 14. image positioning device according to claim 11, it is characterised in that：Described device also includes broadcast unit, for after the route planning information is generated, playing video letter Breath and/or audio-frequency information.
- A kind of 15. image positioning device according to claim 11, it is characterised in that：Described device also includes memory cell, for storing map information, the pre-set image information and institute State target geographic position.
- A kind of 16. image positioning device according to claim 11, it is characterised in that：Described device also includes network signal transmission unit, for accessing offline map and/or Online Map.
- A kind of 17. mobile phone, it is characterised in that：The mobile phone includes a kind of image positioning device as described in any one of claim 11~16.
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| CN (1) | CN107345812A (en) |
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| CN108154497A (en) * | 2017-12-05 | 2018-06-12 | 北京掌行通信息技术有限公司 | A kind of automated detection method and system for illustrating road conditions |
| CN108168557A (en) * | 2017-12-19 | 2018-06-15 | 广州市动景计算机科技有限公司 | Air navigation aid, device, mobile terminal and server |
| CN108955673A (en) * | 2018-06-27 | 2018-12-07 | 四川斐讯信息技术有限公司 | A kind of head-wearing type intelligent wearable device, positioning system and localization method |
| CN109460267A (en) * | 2018-11-05 | 2019-03-12 | 贵州大学 | Mobile robot offline map saves and real-time method for relocating |
| CN109489663A (en) * | 2018-10-19 | 2019-03-19 | 北京三快在线科技有限公司 | A kind of localization method and device, mobile device and computer readable storage medium |
| CN110017841A (en) * | 2019-05-13 | 2019-07-16 | 大有智能科技(嘉兴)有限公司 | Vision positioning method and its air navigation aid |
| CN110132274A (en) * | 2019-04-26 | 2019-08-16 | 中国铁道科学研究院集团有限公司电子计算技术研究所 | A kind of indoor orientation method, device, computer equipment and storage medium |
| CN110243378A (en) * | 2019-07-25 | 2019-09-17 | 北京路码科技有限公司 | Path guide method and system in a kind of human-computer interaction room |
| CN111178366A (en) * | 2018-11-12 | 2020-05-19 | 杭州萤石软件有限公司 | Mobile robot positioning method and mobile robot |
| CN111256677A (en) * | 2020-01-22 | 2020-06-09 | 维沃移动通信（杭州）有限公司 | Positioning method, electronic device and storage medium |
| CN113029160A (en) * | 2021-05-30 | 2021-06-25 | 浙江华睿科技有限公司 | Navigation method, navigation terminal and computer readable storage medium |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108154497A (en) * | 2017-12-05 | 2018-06-12 | 北京掌行通信息技术有限公司 | A kind of automated detection method and system for illustrating road conditions |
| CN108168557A (en) * | 2017-12-19 | 2018-06-15 | 广州市动景计算机科技有限公司 | Air navigation aid, device, mobile terminal and server |
| CN108955673A (en) * | 2018-06-27 | 2018-12-07 | 四川斐讯信息技术有限公司 | A kind of head-wearing type intelligent wearable device, positioning system and localization method |
| CN109489663A (en) * | 2018-10-19 | 2019-03-19 | 北京三快在线科技有限公司 | A kind of localization method and device, mobile device and computer readable storage medium |
| CN109460267A (en) * | 2018-11-05 | 2019-03-12 | 贵州大学 | Mobile robot offline map saves and real-time method for relocating |
| CN109460267B (en) * | 2018-11-05 | 2021-06-25 | 贵州大学 | Mobile robot off-line map storage and real-time relocation method |
| CN111178366A (en) * | 2018-11-12 | 2020-05-19 | 杭州萤石软件有限公司 | Mobile robot positioning method and mobile robot |
| CN111178366B (en) * | 2018-11-12 | 2023-07-25 | 杭州萤石软件有限公司 | Mobile robot positioning method and mobile robot |
| CN110132274A (en) * | 2019-04-26 | 2019-08-16 | 中国铁道科学研究院集团有限公司电子计算技术研究所 | A kind of indoor orientation method, device, computer equipment and storage medium |
| CN110017841A (en) * | 2019-05-13 | 2019-07-16 | 大有智能科技(嘉兴)有限公司 | Vision positioning method and its air navigation aid |
| CN110243378A (en) * | 2019-07-25 | 2019-09-17 | 北京路码科技有限公司 | Path guide method and system in a kind of human-computer interaction room |
| CN110243378B (en) * | 2019-07-25 | 2021-09-14 | 北京路码科技有限公司 | Man-machine interaction indoor path guiding method and system |
| CN111256677A (en) * | 2020-01-22 | 2020-06-09 | 维沃移动通信（杭州）有限公司 | Positioning method, electronic device and storage medium |
| CN111256677B (en) * | 2020-01-22 | 2022-05-17 | 维沃移动通信（杭州）有限公司 | Positioning method, electronic device and storage medium |
| CN113029160A (en) * | 2021-05-30 | 2021-06-25 | 浙江华睿科技有限公司 | Navigation method, navigation terminal and computer readable storage medium |
| CN113029160B (en) * | 2021-05-30 | 2021-09-14 | 浙江华睿科技股份有限公司 | Navigation method, navigation terminal and computer readable storage medium |
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