CN108332748B - Indoor visible light positioning method and device - Google Patents
Indoor visible light positioning method and device Download PDFInfo
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- CN108332748B CN108332748B CN201711367852.4A CN201711367852A CN108332748B CN 108332748 B CN108332748 B CN 108332748B CN 201711367852 A CN201711367852 A CN 201711367852A CN 108332748 B CN108332748 B CN 108332748B
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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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- G—PHYSICS
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- G01S—RADIO 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
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/12—Systems for determining distance or velocity not using reflection or reradiation using electromagnetic waves other than radio waves
Abstract
The invention discloses an indoor visible light positioning method and device, wherein the method comprises the following steps: acquiring image information of a target illumination light source and spatial angle information of a receiving end in a preset spatial coordinate system, wherein the image information comprises projection light spots of the target illumination light source; identifying the projection light spots according to a preset algorithm, the sampling frequency of a receiving end, the exposure parameters and the pixel size to obtain light source positioning parameters and light spot positioning parameters; obtaining an absolute position of the receiving end in a preset space coordinate system according to the spot positioning parameter, the light source positioning parameter, the space angle information and the focal length of the receiving end by an imaging positioning algorithm; according to the method and the device, when the receiving end is positioned, the light spot positioning parameter and the light source positioning parameter can be obtained only through the light spot of the image information of one lighting source, so that the absolute position of the receiving end in the preset space coordinate is obtained through the light spot positioning parameter and the light source positioning parameter.
Description
Technical Field
The invention relates to an indoor visible light positioning technology of illumination integration, in particular to an indoor visible light positioning method and device.
Background
In recent years, with the continuous development of smart cities and location-based services, demands and applications related to indoor positioning are emerging. Because the traditional positioning system (GPS, Beidou and the like) based on satellite signals has poor positioning effect in indoor environment and cannot be effectively used, a series of indoor positioning methods and systems based on Wi-Fi, Bluetooth, ultrasound, infrared, ultra-wideband, inertial navigation and other principles gradually appear in the global range. The positioning methods are not popularized due to the limitations of layout cost, positioning accuracy, system adaptability and the like. With the progress of solid-state light source technology, solid-state light sources represented by LEDs have become mainstream in the lighting market due to their advantages of high luminous efficiency, low energy consumption, long service life, environmental protection of materials, and the like. The high modulation bandwidth of LEDs relative to conventional fluorescent/incandescent lamps, in turn, enables them to emit visible light signals while providing illumination, providing a hardware basis for illumination-based indoor visible light localization. In addition, with the development of smart mobile devices, the sensing capability of commercial mobile terminals represented by smart phones is increasing, so that high-precision detection of inertial information and image information becomes possible.
Compared with outdoor positioning based on satellite signals and other indoor positioning methods, the indoor visible light positioning technology takes visible light signals emitted by a target illumination light source as an information carrier. Therefore, the indoor target illumination light source can be directly used as a signal transmitting end, illumination and indoor positioning services are provided, and the arrangement cost is low. Secondly, because the visible light signal is used as a carrier, the indoor visible light positioning system can not generate electromagnetic wave signals in a radio frequency wave band, and therefore, the indoor visible light positioning system can not generate interference with the existing indoor wireless communication signals and can not generate electromagnetic interference. In addition, the visible light signal has the characteristic of straight line propagation, so that the visible light signal cannot penetrate through a wall. Therefore, compared with an indoor positioning method utilizing radio frequency signals, the problem of cross-floor and cross-room mispositioning cannot occur in visible light positioning.
However, in the current visible light positioning method, a receiving end is mostly required to simultaneously acquire information from a plurality of target illumination light sources, and positioning based on a single target illumination light source cannot be performed, so that the requirement on the distribution density of the light sources in a scene is high.
Disclosure of Invention
The invention mainly aims to provide an indoor visible light positioning method and device, which can perform positioning based on a single target illumination light source.
According to an aspect of the present invention, there is provided an indoor visible light positioning method, including:
acquiring image information of a target illumination light source and spatial angle information of a receiving end in a preset spatial coordinate system, wherein the image information comprises a projection light spot of the target illumination light source; identifying the projection light spots according to a preset algorithm, the sampling frequency of a receiving end, the exposure parameters and the pixel size to obtain light source positioning parameters and light spot positioning parameters; and obtaining the absolute position of the receiving end in the preset space coordinate system according to the spot positioning parameter, the light source positioning parameter, the space angle information and the focal length of the receiving end by an imaging positioning algorithm.
Optionally, the identifying the projection light spot according to a preset algorithm, a sampling frequency of a receiving end, an exposure parameter, and a pixel size to obtain a light source positioning parameter includes: obtaining the modulation frequency of the target illumination light source according to the spatial frequency of the stripes in the projection light spots, the sampling frequency of a receiving end and the exposure parameters; and looking up a table according to the modulation frequency to obtain the light source positioning parameter.
Optionally, the light source positioning parameters include: and the light source coordinates and the light source shape information of the center of the target illumination light source in the preset space coordinate system.
Optionally, the identifying the projection light spot according to a preset algorithm, a sampling frequency of a receiving end, an exposure parameter, and a pixel size to obtain a light spot positioning parameter includes: and obtaining the light spot positioning parameters according to the outline of the projected light spot and the pixel size of a receiving end.
Optionally, the spot location parameters include: and the coordinate and the shape outline information of the center of the projection light spot on the receiving end coordinate system, wherein the receiving end coordinate system is a two-dimensional rectangular coordinate system taking the center of the image detector of the receiving end as an original point and the edge of the detector as coordinate axes.
Optionally, the obtaining an absolute position of the receiving end in the preset spatial coordinate system according to the spot positioning parameter, the light source positioning parameter, the spatial angle information, and the focal length of the receiving end by the imaging positioning algorithm includes: determining the coordinates of a reference point preset on the target illumination light source in a cell space coordinate system according to the light source shape information of the target illumination light source; the origin of the cell space coordinate system is coincident with the center of the target illumination light source, and each coordinate axis of the cell space coordinate system is parallel to the corresponding coordinate axis in the preset space coordinate system; processing the spatial angle information, the coordinates of the center of the projection light spot on the receiving end coordinate system and the outline information of the projection light spot according to a first algorithm to obtain the coordinates of the projection point of the preset reference point on the receiving end coordinate system; and according to a second algorithm, obtaining a spatial coordinate, namely an absolute position, of the receiving end in a preset spatial coordinate system by using the coordinate of the reference point in the cell spatial coordinate system, the coordinate of the projection point on the receiving end coordinate system, the light source shape information of the target illumination light source, the outline information of the projection light spot, the focal length of the receiving end and the spatial coordinate of the target illumination light source in the preset spatial coordinate system.
Optionally, in an actual scene, each light source with different modulation frequencies forms a positioning cell, and through combination of a plurality of positioning cells, three-dimensional positioning of the receiving end in the whole indoor scene can be achieved.
Alternatively, in the case where there are a plurality of the object illumination light sources, the modulation frequency of each of the object illumination light sources is different.
According to a second aspect of the present invention, there is provided an indoor visible light positioning apparatus, the apparatus comprising: the target illumination light source is used for sending visible light signals of specific frequencies related to positioning; the system comprises an acquisition module, a processing module and a display module, wherein the acquisition module is used for acquiring image information of a target illumination light source and space angle information of a receiving end in a preset space coordinate system, and the image information comprises projection light spots of the target illumination light source; the identification module is used for identifying the projection light spots according to a preset algorithm, the sampling frequency of the receiving end, the exposure parameters and the pixel size to obtain light source positioning parameters and light spot positioning parameters; and the operation module is used for obtaining the absolute position of the receiving end in the preset space coordinate system according to the spot positioning parameter, the light source positioning parameter, the space angle information and the focal length of the receiving end by an imaging positioning algorithm.
Optionally, the identification module includes: the frequency unit is used for identifying and processing the projection light spot according to a preset algorithm, the sampling frequency of a receiving end, the exposure parameter and the pixel size to obtain a light source positioning parameter, and comprises: obtaining the modulation frequency of the target illumination light source according to the spatial frequency of the stripes in the projection light spots, the sampling frequency of a receiving end and the exposure parameters; and the table look-up unit is used for looking up a table according to the modulation frequency to obtain the light source positioning parameter.
Optionally, the light source positioning parameters include: and the light source coordinates and the light source shape information of the center of the target illumination light source in the preset space coordinate system.
Optionally, the identification module further includes: and the parameter unit is used for obtaining the light spot positioning parameters according to the outline of the projection light spot and the pixel size of a receiving end.
Optionally, the spot location parameters include: and the coordinate and the shape outline information of the center of the projection light spot on the receiving end coordinate system, wherein the receiving end coordinate system is a two-dimensional rectangular coordinate system taking the center of the image detector of the receiving end as an original point and the edge of the detector as coordinate axes.
Optionally, the operation module includes: the coordinate unit is used for determining the coordinates of a reference point preset on the target illumination light source in a cell space coordinate system according to the light source shape information of the target illumination light source; the reference point unit is used for processing the space angle information, the coordinates of the center of the projection light spot on the receiving end coordinate system and the outline information of the projection light spot according to a first algorithm to obtain the coordinates of the preset projection point of the reference point on the receiving end coordinate system; and the position unit is used for obtaining a spatial coordinate, namely an absolute position, of the receiving end in a preset spatial coordinate system according to a second algorithm on the coordinate of the reference point in the cell spatial coordinate system, the coordinate of the projection point on the receiving end coordinate system, the light source shape information of the target illumination light source, the outline information of the projection light spot, the focal length of the receiving end and the spatial coordinate of the target illumination light source in the preset spatial coordinate system.
Alternatively, in the case where there are a plurality of the object illumination light sources, the modulation frequency of each of the object illumination light sources is different.
According to a third aspect of the present invention, there is provided a computer device comprising a processor and a memory; the memory is used for storing computer instructions, and the processor is used for operating the computer instructions stored by the memory so as to realize the indoor visible light positioning method.
According to a fourth aspect of the present invention, there is provided a computer readable storage medium storing one or more programs, the one or more programs being executable by one or more processors to implement an indoor visible light positioning method as described above.
The invention has the following beneficial effects: according to the indoor visible light positioning method and device provided by the embodiment of the invention, in the process of positioning the receiving end, the light spot positioning parameter and the light source positioning parameter can be obtained by combining the projection light spot in the image information of the target illumination light source and the characteristic parameter of the receiving end, so that the absolute position of the receiving end in the preset space coordinate system can be obtained through the light spot positioning parameter, the light source positioning parameter and the characteristic parameter of the receiving end, that is, the specific indoor three-dimensional position of the receiving end can be obtained, and the indoor positioning efficiency can be effectively improved. In addition, in this embodiment, only the projection light spot in the image information of one target illumination light source needs to be collected, and the image information of a plurality of target illumination light sources does not need to be acquired, so that the indoor positioning work of the receiving end can be completed. Moreover, in the invention, the coordinates of the projection point of the reference point on the receiving end coordinate system can be directly obtained directly through the two-dimensional coordinates of the center of the projection light spot on the receiving end coordinate system, the outline information of the projection light spot and the space angle information of the receiving end, and compared with the prior art that the coordinates of each pixel of the image shot by the receiving end in the receiving end coordinate system need to be subjected to matrix operation to obtain the coordinates of the projection point on the receiving end coordinate system, the efficiency of obtaining the coordinates of the projection point is greatly improved, thereby improving the positioning efficiency.
Drawings
Fig. 1 is a flow chart of an indoor visible light positioning method according to a first embodiment of the present invention;
fig. 2 is a schematic structural diagram of an indoor visible light positioning device according to a second embodiment of the present invention.
The objects, features and advantages of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the following description, suffixes such as "module", "component", or "unit" used to denote elements are used only for facilitating the explanation of the present invention, and have no specific meaning in itself. Thus, "module", "component" or "unit" may be used mixedly.
In order to facilitate understanding of the embodiments of the present invention, the following detailed description of the embodiments of the present invention is provided.
The first embodiment of the invention provides an indoor visible light positioning method, which comprises the following steps based on a receiving end:
acquiring image information of a target illumination light source and spatial angle information of a receiving end in a preset spatial coordinate system, wherein the image information comprises a projection light spot of the target illumination light source; identifying the projection light spots according to a preset algorithm, the sampling frequency of a receiving end, the exposure parameters and the pixel size to obtain light source positioning parameters and light spot positioning parameters; and obtaining the absolute position of the receiving end in the preset space coordinate system according to the light spot positioning parameter, the light source positioning parameter, the space angle information and the focal length of the receiving end by an imaging positioning algorithm.
Therefore, in the process of positioning the receiving end, the light spot positioning parameter and the light source positioning parameter can be obtained by combining the projection light spot in the image information of the target illumination light source and the characteristic parameter of the receiving end, so that the absolute position of the receiving end in the preset spatial coordinate system can be obtained through the light spot positioning parameter, the light source positioning parameter and the characteristic parameter of the receiving end, the specific indoor three-dimensional position of the receiving end can be obtained, and the indoor positioning efficiency can be effectively improved. In addition, in this embodiment, only the projection light spot in the image information of one target illumination light source needs to be collected, and the image information of a plurality of target illumination light sources does not need to be acquired, so that the indoor positioning work of the receiving end can be completed. Moreover, in the invention, the coordinates of the projection point of the reference point on the receiving end coordinate system can be directly obtained directly through the two-dimensional coordinates of the center of the projection light spot on the receiving end coordinate system, the outline information of the projection light spot and the space angle information of the receiving end, and compared with the prior art that the coordinates of each pixel of the image shot by the receiving end in the receiving end coordinate system need to be subjected to matrix operation to obtain the coordinates of the projection point on the receiving end coordinate system, the efficiency of obtaining the coordinates of the projection point is greatly improved, thereby improving the positioning efficiency.
Fig. 1 is a flowchart of an indoor visible light positioning method according to a first embodiment of the present invention. According to a first embodiment of the present invention, as shown in fig. 1, a method for positioning visible light indoors is provided, the method including:
s1: acquiring image information of a target illumination light source and spatial angle information of a receiving end in a preset spatial coordinate system, wherein the image information comprises a projection light spot of the target illumination light source;
first, image information of the target illumination light source needs to be acquired through the receiving end. Moreover, the receiving end needs to acquire the spatial angle information of the receiving end in the preset spatial coordinate system.
Wherein the target illumination source further comprises a driving/modulation circuit that transmits a location-dependent visible light signal while providing illumination. Moreover, each target illumination source constitutes an independent positioning cell. The modulation frequency of the visible light signal emitted by each target illumination light source (positioning cell) is controllable and different, so as to be beneficial to receiving and distinguishing of a receiving end.
Aiming at a receiving end, the receiving end comprises an image detector, an angle detector and a processor, wherein an algorithm used in the processor comprises the following steps: a light source label identification algorithm, a light source projection identification algorithm, and an imaging localization algorithm. Optimally, the image detector is a Complementary Metal Oxide Semiconductor (CMOS) based image detector, and the image detector is integrated in hardware at a receiving end. When the receiving end collects the image information of the target illumination light source, the image detector shoots the target illumination light source, specifically, the image detector shoots the target illumination light source to obtain the image information of the target illumination light source, and optimally, only one target illumination light source is arranged in each positioning cell. Furthermore, in the present embodiment, the focal length f of the imaging system can also be read out when the image detector captures its captured image. In this embodiment, the receiving end can be optimized to be an intelligent terminal device such as a smart phone, which has image capturing and data processing functions.
The image information includes the projection light spot of the target illumination light source, that is, the captured image includes the projection light spot of a complete target illumination light source.
In addition, the receiving end related in this embodiment collects spatial angle information of itself in a preset spatial coordinate system, specifically: and acquiring the spatial angle information of the receiving end in the preset spatial coordinate system at the moment of shooting the target illumination light source by the angle detector. Wherein the angle detector is integrated in the receiving end hardware. The spatial angle information of the receiving end includes: and when the image information is acquired, the yaw angle (around the Z axis) alpha, the pitch angle (around the Y axis) beta and the roll angle (around the X axis) gamma of the receiving end in the preset space coordinate system.
In addition, in the present embodiment, the preset spatial coordinate system is a fixed and unchangeable rectangular spatial coordinate system, so the position of the target illumination light source in the preset spatial coordinate system is fixed, and in the present embodiment, there is no requirement for the density and distribution of the target illumination light source in the preset spatial coordinate system.
S2: identifying the projection light spots according to a preset algorithm, the sampling frequency of a receiving end, the exposure parameters and the pixel size to obtain light source positioning parameters and light spot positioning parameters;
the receiving end obtains the image information of the target illumination light source, namely the receiving end obtains the projection light spot of the target illumination light source. In this embodiment, the processor in the receiving end performs identification processing on the projection light spot according to a preset algorithm, the sampling frequency, the exposure parameter and the pixel size of the receiving end, so as to obtain a light source positioning parameter and a light spot positioning parameter.
S3: and calculating the light spot positioning parameter, the light source positioning parameter, the spatial angle information and the focal length of the receiving end according to an imaging positioning algorithm to obtain the absolute position of the receiving end in the preset spatial coordinate system.
After the light spot positioning parameters and the light source positioning parameters are obtained, the absolute position of the receiving end in the preset space coordinate system can be obtained by combining the space angle information and the focal length of the receiving end for operation.
In this embodiment, in the process of positioning the receiving end, the light spot positioning parameter and the light source positioning parameter may be obtained by combining the projection light spot in the image information of the target illumination light source and the characteristic parameter of the receiving end itself, so that the absolute position of the receiving end in the preset spatial coordinate system is obtained by the light spot positioning parameter, the light source positioning parameter and the characteristic parameter of the receiving end itself, that is, the specific indoor three-dimensional position of the receiving end is obtained, and the indoor positioning efficiency can be effectively improved. In addition, in this embodiment, only the projection light spot in the image information of one target illumination light source needs to be collected, and the image information of a plurality of target illumination light sources does not need to be acquired, so that the indoor positioning work of the receiving end can be completed. Moreover, in the invention, the coordinates of the projection point of the reference point on the receiving end coordinate system can be directly obtained directly through the two-dimensional coordinates of the center of the projection light spot on the receiving end coordinate system, the outline information of the projection light spot and the space angle information of the receiving end, and compared with the prior art that the coordinates of each pixel of the image shot by the receiving end in the receiving end coordinate system need to be subjected to matrix operation to obtain the coordinates of the projection point on the receiving end coordinate system, the efficiency of obtaining the coordinates of the projection point is greatly improved, thereby improving the positioning efficiency.
Optionally, the identifying the projection light spot according to a preset algorithm, a sampling frequency of a receiving end, an exposure parameter, and a pixel size to obtain a light source positioning parameter includes: obtaining the modulation frequency of the target illumination light source according to the spatial frequency of the stripes in the projection light spots, the sampling frequency of a receiving end and the exposure parameters; and looking up a table according to the modulation frequency to obtain the light source positioning parameter.
In addition, in the present embodiment, a light source tag identification algorithm is included in the processor.
Therefore, the receiving end calculates the spatial frequency (unit: pixel/bar) of the light and dark stripes in the projected light spots to obtain the calculation result. And then, the modulation frequency of the target illumination light source is obtained by combining the calculation result, the sampling frequency of the receiving end and the exposure parameter through a light source label identification algorithm. Then, the table is looked up according to the modulation frequency, and the light source positioning parameter can be obtained.
For this light source positioning parameter, it comprises: a light source coordinate (x) of the center of the target illumination light source in the preset spatial coordinate systemL,yL,zL) And light source shape information. In addition, the target illumination light source is not improved in the present embodiment, so that the outline of the target illumination light source is circular as known in the art, that is, the light source shape information can be expressed as a diameter dL。
Optionally, the identifying the projection light spot according to a preset algorithm, a sampling frequency of a receiving end, an exposure parameter, and a pixel size to obtain a light spot positioning parameter includes: and obtaining the light spot positioning parameters according to the outline of the projection light spot and the pixel size of a receiving end.
In addition, in the present embodiment, a light source projection recognition algorithm is included in the processor.
And the receiving end extracts the outline of the projection light spot. In the present embodiment, it has been explained that: in the present embodiment, the target illumination light source is not modified, and therefore, as is known from the prior art, the target illumination light source itself has a circular contour. Therefore, in the present solution, the contour of the extracted projection light spot is an ellipse.
Specifically, the receiving end firstly performs morphological closed operation processing on the projection light spot containing the stripe according to the width of the stripe to obtain an elliptical projection light spot. And then, performing edge extraction on the projected light spot to obtain the profile of the projected light spot.
For the spot positioning parameters, it comprises: the spot positioning parameters include: and the coordinate and the shape outline information of the center of the projection light spot on the receiving end coordinate system, wherein the receiving end coordinate system is a two-dimensional rectangular coordinate system taking the center of the image detector of the receiving end as an original point and the edge of the detector as coordinate axes. In this embodiment, the coordinate of the center of the projected light spot on the coordinate system of the receiving end is the coordinate (x) of the center of the elliptical projected light spot on the coordinate system of the image detectorP1,yP1). The projection light spot is arranged in an oval shape, so the shape information of the projection light spot is the length d of the semimajor axis of the projection light spot arranged in the oval shapeP/2。
Optionally, obtaining an absolute position of the receiving end in the preset spatial coordinate system according to the spot positioning parameter, the light source positioning parameter, the spatial angle information, and the focal length of the receiving end by an imaging positioning algorithm, includes: determining the coordinates of a reference point preset on the target illumination light source in a cell space coordinate system according to the light source shape information of the target illumination light source; the origin of the cell space coordinate system is coincident with the center of the target illumination light source, and each coordinate axis of the cell space coordinate system is parallel to the corresponding coordinate axis in the preset space coordinate system; processing the spatial angle information, the coordinates of the center of the projection light spot on the receiving end coordinate system and the outline information of the projection light spot according to a first algorithm to obtain the coordinates of the projection point of the preset reference point on the receiving end coordinate system; and according to a second algorithm, obtaining a spatial coordinate, namely an absolute position, of the receiving end in a preset spatial coordinate system by using the coordinate of the reference point in the cell spatial coordinate system, the coordinate of the projection point on the receiving end coordinate system, the light source shape information of the target illumination light source, the outline information of the projection light spot, the focal length of the receiving end and the spatial coordinate of the target illumination light source in the preset spatial coordinate system.
Specifically, A1. diameter d of the illumination light source according to the objectLAt least three positioning reference points are defined. In the present embodiment, it is preferable to define five positioning reference points, and the coordinates of the positioning reference points in the cell space coordinate system are a (0,0,0), B (-d), respectivelyL/2,-dL/2,0)，C(-dL/2,dL/2,0)，D(dL/2,-dL/2,0) and E (d)L/2,dL/2,0). The reference point a (0,0,0) is set as a coordinate of the center of the target illumination light source in a cell space coordinate system, that is, the origin of the cell space coordinate system coincides with the target illumination light source, and each coordinate axis of the reference point a is parallel to a corresponding coordinate axis in the preset space coordinate system.
A2. Based on the following formula (1), the coordinate (x) of the center of the elliptical projection light spot on the receiving end coordinate systemP1,yP1) And calculating the space angle information (yaw angle alpha, pitch angle beta and roll angle gamma (angle)) of the receiving end in a preset space coordinate system to obtain the projection coordinate A '(x') of the central reference point A of the target illumination light source on the receiving end coordinate systemP,yP)：
A3. Combined with the coordinate A' (x)P,yP) And the length d of the semimajor axis of the projected light spot in an elliptical arrangementP2, obtaining the projection point B' (x) of the reference point B/C/D/E on the receiving end coordinate systemP+dP/2,yP+dP/2)，C'(xP+dP/2,yP-dP/2)，D'(xP-dP/2,yP+dP/2)，E'(xP-dP/2,yP-dP/2)；
A4. Based on the following formula (2), the diameter d of the target illumination light source is combinedLLength d of semimajor axis of projection light spot in elliptical arrangementP/2 and imaging system when image detector takes image of target illumination light sourceThe focal length f is calculated to obtain the height difference h between the receiving end and the target illumination light source:
A5. combining the coordinates A (0,0,0), B (-d) of the reference point in the cell space coordinate system based on the following formula (3)L/2,-dL/2,0)，C(-dL/2,dL/2,0)，D(dL/2,-dL/2,0)，E(dL/2,dL/2,0), the projected coordinate A' (x) of the reference point on the receiving end coordinate systemP,yP)，B'(xP+dP/2,yP+dP/2)，
C'(xP+dP/2,yP-dP/2)，D'(xP-dP/2,yP+dP/2)，E'(xP-dP/2,yP-dPAnd/2), the height difference h obtained in the step A4 and the focal length f of the imaging system when the image detector captures the image of the target illumination light source, and the unknowns are listed as (x, y) for calculation:
wherein:
A6. solving a positioning equation set (3) to obtain initial coordinates (x, y, -h) of the receiving end in a cell space coordinate system, and simultaneously combining an actual coordinate (x) of the center of the target illumination light source in a preset space coordinate systemL,yL,zL) Obtaining the actual coordinate (x) of the receiving end in the preset space coordinate systemL+x,yL+y,zL-h). Therefore, the user can obtain the specific position of the receiving end in the actual three-dimensional space through the receiving end to complete positioning.
In this embodiment, in the process of positioning the receiving end, the light spot positioning parameter and the light source positioning parameter may be obtained by combining the projection light spot in the image information of the target illumination light source and the characteristic parameter of the receiving end itself, so that the absolute position of the receiving end in the preset spatial coordinate system is obtained by the light spot positioning parameter, the light source positioning parameter and the characteristic parameter of the receiving end itself, that is, the specific indoor three-dimensional position of the receiving end is obtained, and the indoor positioning efficiency can be effectively improved. In addition, in this embodiment, only the projection light spot in the image information of one target illumination light source needs to be collected, and the image information of a plurality of target illumination light sources does not need to be acquired, so that the indoor positioning work of the receiving end can be completed.
Specifically, in the imaging positioning algorithm, matrix operation processing related to angle transformation does not need to be carried out on each pixel of a shot image, and only angle transformation matrix operation needs to be carried out on one pixel, so that the algorithm is simpler, the required computing resource and related energy consumption are less, and the light source identification and positioning functions can be simultaneously completed by utilizing a shot image and related angle information.
In addition, the receiving end only needs to collect the optical signal of a single target illumination light source to finish positioning, positioning cells are more independent, the requirement on the distribution density of indoor target illumination light sources is low, the application range is wide, the receiving end adopts common image detectors and angle detectors (gyroscopes, accelerometers, geomagnetic detectors and the like) on commercial mobile terminals such as smart phones or tablet computers, additional hardware is not needed, and the positioning device is easy to use and popularize.
Fig. 2 is a schematic structural diagram of an indoor visible light positioning device according to a second embodiment of the present invention. According to a second embodiment of the present invention, as shown in fig. 2, there is provided an indoor visible light positioning device, comprising: the target illumination light source is used for sending visible light signals of specific frequencies related to positioning; the system comprises an acquisition module, a processing module and a display module, wherein the acquisition module is used for acquiring image information of a target illumination light source and space angle information of a receiving end in a preset space coordinate system, and the image information comprises projection light spots of the target illumination light source; the identification module is used for identifying the projection light spots according to a preset algorithm, the sampling frequency of the receiving end, the exposure parameters and the pixel size to obtain light source positioning parameters and light spot positioning parameters; and the operation module is used for obtaining the absolute position of the receiving end in the preset space coordinate system according to the spot positioning parameter, the light source positioning parameter, the space angle information and the focal length of the receiving end by an imaging positioning algorithm.
Optionally, the identification module includes: the frequency unit is used for identifying and processing the projection light spots according to a preset algorithm, the sampling frequency of the receiving end, the exposure parameter and the pixel size to obtain a light source positioning parameter, and comprises the following steps: obtaining the modulation frequency of the target illumination light source according to the spatial frequency of the stripes in the projection light spots, the sampling frequency of a receiving end and the exposure parameters; and the table look-up unit is used for looking up a table according to the modulation frequency to obtain the light source positioning parameter.
Optionally, the light source positioning parameters include: and the light source coordinates and the light source shape information of the center of the target illumination light source in the preset space coordinate system.
Optionally, the identification module further includes: and the parameter unit is used for obtaining the light spot positioning parameters according to the outline of the projection light spot and the pixel size of a receiving end.
Optionally, the spot location parameters include: and the coordinate and the shape outline information of the center of the projection light spot on the receiving end coordinate system, wherein the receiving end coordinate system is a two-dimensional rectangular coordinate system taking the center of the image detector of the receiving end as an original point and the edge of the detector as coordinate axes.
Optionally, the operation module includes: the coordinate unit is used for determining the coordinates of a reference point preset on the target illumination light source in a cell space coordinate system according to the light source shape information of the target illumination light source; the reference point unit is used for processing the space angle information, the coordinates of the center of the projection light spot on the receiving end coordinate system and the outline information of the projection light spot according to a first algorithm to obtain the coordinates of the preset projection point of the reference point on the receiving end coordinate system; and the position unit is used for obtaining the space coordinate, namely the absolute position, of the receiving end in a preset space coordinate system according to the coordinate of the reference point in the cell space coordinate system, the coordinate of the projection point on the receiving end coordinate system, the light source shape information of the target illumination light source, the outline information of the projection light spot, the focal length of the receiving end and the space coordinate of the target illumination light source in the preset space coordinate system by a second algorithm.
Alternatively, in the case where there are a plurality of the object illumination light sources, the modulation frequency of each of the object illumination light sources is different.
According to a third aspect of the present invention, there is provided a computer device comprising a processor and a memory; the memory is used for storing computer instructions, and the processor is used for operating the computer instructions stored by the memory to realize the indoor visible light positioning method.
Therefore, in the process of positioning the receiving end, the light spot positioning parameter and the light source positioning parameter can be obtained by combining the projection light spot in the image information of the target illumination light source and the characteristic parameter of the receiving end, so that the absolute position of the receiving end in the preset space coordinate system is obtained through the light spot positioning parameter, the light source positioning parameter and the characteristic parameter of the receiving end, that is, the specific indoor three-dimensional position of the receiving end is obtained, and the indoor positioning efficiency can be effectively improved. In addition, in this embodiment, only the projection light spot in the image information of one target illumination light source needs to be collected, and the image information of a plurality of target illumination light sources does not need to be acquired, so that the indoor positioning work of the receiving end can be completed. Moreover, in the invention, the coordinates of the projection point of the reference point on the receiving end coordinate system can be directly obtained directly through the two-dimensional coordinates of the center of the projection light spot on the receiving end coordinate system, the outline information of the projection light spot and the space angle information of the receiving end, and compared with the prior art that the coordinates of each pixel of the image shot by the receiving end in the receiving end coordinate system need to be subjected to matrix operation to obtain the coordinates of the projection point on the receiving end coordinate system, the efficiency of obtaining the coordinates of the projection point is greatly improved, thereby improving the positioning efficiency.
A third embodiment of the present invention provides a computer device comprising a processor and a memory; the memory is used for storing computer instructions, and the processor is used for operating the computer instructions stored by the memory to realize the indoor visible light positioning method.
Since the details of the indoor visible light positioning method have been described in the first embodiment, the implementation process of the method is not repeated in this embodiment.
A fourth embodiment of the present invention provides a computer-readable storage medium storing one or more programs, which are executable by one or more processors to implement an indoor visible light positioning method as described above.
Since the details of the indoor visible light positioning method have been described in the first embodiment, the implementation process of the method is not repeated in this embodiment.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal (such as a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (9)
1. An indoor visible light positioning method, characterized in that the method comprises:
acquiring image information of a target illumination light source and spatial angle information of a receiving end in a preset spatial coordinate system, wherein the image information comprises a projection light spot of the target illumination light source;
identifying the projection light spots according to a preset algorithm, the sampling frequency of a receiving end, the exposure parameters and the pixel size to obtain light source positioning parameters and light spot positioning parameters;
obtaining the absolute position of the receiving end in the preset space coordinate system according to the light spot positioning parameter, the light source positioning parameter, the space angle information and the focal length of the receiving end by an imaging positioning algorithm;
the obtaining of the absolute position of the receiving end in the preset spatial coordinate system according to the spot positioning parameter, the light source positioning parameter, the spatial angle information, and the focal length of the receiving end by the imaging positioning algorithm includes: determining the coordinates of a reference point preset on the target illumination light source in a cell space coordinate system according to the light source shape information of the target illumination light source; the origin of the cell space coordinate system is coincident with the center of the target illumination light source, and each coordinate axis of the cell space coordinate system is parallel to the corresponding coordinate axis in the preset space coordinate system;
processing the spatial angle information, the coordinates of the center of the projection light spot on the receiving end coordinate system and the outline information of the projection light spot according to a first algorithm to obtain the coordinates of the projection point of the preset reference point on the receiving end coordinate system;
and according to a second algorithm, obtaining a spatial coordinate, namely an absolute position, of the receiving end in a preset spatial coordinate system by using the coordinate of the reference point in the cell spatial coordinate system, the coordinate of the projection point on the receiving end coordinate system, the light source shape information of the target illumination light source, the outline information of the projection light spot, the focal length of the receiving end and the spatial coordinate of the target illumination light source in the preset spatial coordinate system.
2. The method according to claim 1, wherein the identifying the projection light spot according to a preset algorithm, a sampling frequency of a receiving end, an exposure parameter and a pixel size to obtain a light source positioning parameter comprises:
obtaining the modulation frequency of the target illumination light source according to the spatial frequency of the stripes in the projection light spots, the sampling frequency of a receiving end and the exposure parameters;
and looking up a table according to the modulation frequency to obtain the light source positioning parameter.
3. The method of claim 2, wherein the light source positioning parameters comprise: and the light source coordinates and the light source shape information of the center of the target illumination light source in the preset space coordinate system.
4. The method according to claim 3, wherein the identifying the projected light spot according to a preset algorithm, a sampling frequency of a receiving end, an exposure parameter and a pixel size to obtain a light spot positioning parameter comprises:
and obtaining the light spot positioning parameters according to the outline of the projected light spot and the pixel size of a receiving end.
5. The method of claim 4, wherein the spot location parameters comprise: and the coordinate and the shape outline information of the center of the projection light spot on the receiving end coordinate system, wherein the receiving end coordinate system is a two-dimensional rectangular coordinate system taking the center of the image detector of the receiving end as an original point and the edge of the detector as coordinate axes.
6. The method according to any one of claims 1 to 5, wherein in the case of a plurality of the target illumination light sources, the modulation frequency of each of the target illumination light sources is different.
7. An indoor visible light positioning device, the device comprising:
the system comprises an acquisition module, a processing module and a display module, wherein the acquisition module is used for acquiring image information of a target illumination light source and space angle information of a receiving end in a preset space coordinate system, and the image information comprises projection light spots of the target illumination light source;
the identification module is used for identifying the projection light spots according to a preset algorithm, the sampling frequency of the receiving end, the exposure parameters and the pixel size to obtain light source positioning parameters and light spot positioning parameters;
the operation module is used for obtaining the absolute position of the receiving end in the preset space coordinate system according to the light spot positioning parameter, the light source positioning parameter, the space angle information and the focal length of the receiving end by an imaging positioning algorithm;
the operation module is further used for determining the coordinates of a reference point preset on the target illumination light source in a cell space coordinate system according to the light source shape information of the target illumination light source; the origin of the cell space coordinate system is coincident with the center of the target illumination light source, and each coordinate axis of the cell space coordinate system is parallel to the corresponding coordinate axis in the preset space coordinate system; processing the spatial angle information, the coordinates of the center of the projection light spot on the receiving end coordinate system and the outline information of the projection light spot according to a first algorithm to obtain the coordinates of the projection point of the preset reference point on the receiving end coordinate system; and obtaining the space coordinate, namely the absolute position, of the receiving end in a preset space coordinate system according to the coordinate of the reference point in the cell space coordinate system, the coordinate of the projection point on the receiving end coordinate system, the light source shape information of the target illumination light source, the outline information of the projection light spot, the focal length of the receiving end and the space coordinate of the target illumination light source in the preset space coordinate system by a second algorithm.
8. A computer device comprising a processor and a memory;
the memory is used for storing computer instructions, and the processor is used for executing the computer instructions stored by the memory to realize the indoor visible light positioning method of any one of claims 1 to 6.
9. A computer readable storage medium storing one or more programs, the one or more programs being executable by one or more processors to implement the indoor visible light positioning method of any one of claims 1 to 6.
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| CN110208743B (en) * | 2019-03-05 | 2022-05-06 | 天津大学 | Method for positioning flying light source in traffic tunnel based on white light LED |
| CN110310327B (en) * | 2019-06-28 | 2022-10-25 | 联想(北京)有限公司 | Image processing method and apparatus, computer system, and readable storage medium |
| CN110542419A (en) * | 2019-08-16 | 2019-12-06 | 中国电子科技集团公司电子科学研究院 | Indoor positioning method and device based on visible light, electronic equipment and storage medium |
| CN111190141B (en) * | 2020-01-09 | 2023-05-12 | 大连理工大学 | Method for determining light source emission sequence based on image superposition in visible light indoor positioning |
| CN113382131B (en) * | 2020-03-09 | 2022-11-25 | 杭州海康威视数字技术股份有限公司 | Light supplement position visualization method, camera, light supplement module and terminal equipment |
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