CN109141443A - The localization method and system of perception data are acquired according to mobile terminal - Google Patents
The localization method and system of perception data are acquired according to mobile terminal Download PDFInfo
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- CN109141443A CN109141443A CN201710455335.6A CN201710455335A CN109141443A CN 109141443 A CN109141443 A CN 109141443A CN 201710455335 A CN201710455335 A CN 201710455335A CN 109141443 A CN109141443 A CN 109141443A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
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- 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
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
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Abstract
The present invention provides a kind of localization method and system that perception data is acquired according to mobile terminal, the following steps are included: garage parking map is obtained, to enter perception information and the upload that the individual for acquiring information Perception data in garage parking obtains each coordinate points of garage parking map；Background server constructs garage parking panoramic table database according to coordinate acquisition point and perception information；The perception information that mobile terminal is obtained according to itself compared with garage parking panoramic table database, analyze, position the mobile terminal.People any position acquisition image or video in garage parking can be achieved in the present invention, can solve the problems, such as that garage parking positioning is difficult according to the position for comparing determining people in characteristics of image and panorama database, look for road difficult.
Description
Technical field
The present invention relates to computer communication and network safety fileds, perceive more particularly to a kind of acquired according to mobile terminal
The localization method and system of data.
Background technique
The increase of car ownership promotes the development of large parking lot, and since marching toward 21st century, ours is big
Type parking lot is more and more, and being growing for parking lot scale, brings a series of the problem of parking with picking up the car, has become
The social concern that each large- and-medium size cities generally face in world wide.
Firstly, increasing in city vehicle, under traffic congestion more serious situation, the parking difficulty in city is big
It is big to increase.Many drivers feel to be difficult to control the technology of parking.Secondly, on the one hand car owner is faced with because finding parking stall when parking
And the distance of cruising gradually increased, the walking distance that car owner walks out parking lot is on the other hand also increased, the body of car owner is increased
Power, time and energy cost；Meanwhile the parking stall of large parking lot is numerous and instruction is not clear enough, boundless and indistinct parking stall is caused to seeking vehicle
Great puzzlement.
In today that vehicle development is more and more flourishing, the intelligence of vehicle is a main trend of vehicle future development, in reality
During existing vehicle autonomous parking, garage parking received signal strength under enclosed environment is low, is mentioned using existing Map Services quotient
The map of confession can not precise positioning, people walks garage parking positioning is difficult, to find out that mouth is difficult, looks for vehicle difficulty be urgently to be resolved in the prior art
Problem.
Summary of the invention
In order to solve above-mentioned and other potential technical problems, acquired the present invention provides a kind of according to mobile terminal
The localization method and system of perception data acquire information Perception data by crowdsourcing vehicles or pedestrians and establish garage parking panoramic view data
Library, people any position acquisition image or video in garage parking can compare determination according in characteristics of image and panorama database
The position of people solves the problems, such as that garage parking positioning is difficult, looks for road difficult.It is rejected in image in addition to scene by semantic segmentation technology
Other objects, and then obtain the panorama database of pure scene, reduce image background in database and produced when application image identifies
Raw error further increases garage parking positioning accuracy.
A kind of localization method acquiring perception data according to mobile terminal, comprising the following steps:
S01: obtaining garage parking map, to enter the individual for acquiring information Perception data in garage parking with obtaining garage parking
Scheme the perception information of each coordinate points and upload；
S02: background server constructs garage parking panoramic table database according to coordinate acquisition point and perception information；
S03: the perception information that mobile terminal is obtained according to itself compared with garage parking panoramic table database, analyze, it is fixed
The position mobile terminal.
Further, step S04: location information is sent to the mobile terminal, and is shown.
Further, the perception information includes any of the following:
The collected raw information of information Perception equipment；
By pretreated perception information；
Characteristic information after extracted feature.
Further, the mobile terminal is image information or video information according to the perception information itself obtained.
As a preferred embodiment, when acquisition for mobile terminal image information, which is extracted one or more
Characteristic information, by image one or more characteristic information in garage parking panoramic table database have identical or phase
It is transferred out like all images of characteristic information, compares positioning mobile terminal one by one.
As a preferred embodiment, when acquisition for mobile terminal video information, video is original with the coordinate points of the mobile terminal
Point, rotation is turned around or certain angle collects the video looked around, to obtain interval same time or the distance in video information
Perceptual image information of a few frame images as acquisition for mobile terminal of interception, by image one or more characteristic information and
All images in garage parking panoramic table database with same or similar characteristic information are transferred out, are compared positioning one by one and are moved
Dynamic terminal.
As a preferred embodiment, it obtains the interval same time in video information or a few frame framing apart from interception moves
It when dynamic terminal, is positioned using the adjacent image of the same characteristic features information of extraction as reference picture, reduces and scheme in panorama database
Calculation amount when as comparison.
Further, the perception information that will acquire rejects other objects in image in addition to scene by semantic segmentation,
And then the image of pure scene is obtained, then construct panoramic table database.
Further, the method for obtaining garage parking map is using garage parking basic map as garage parking map, uses
SLAM constructs garage parking map.
Further, the individual for acquiring information Perception data into garage parking is to be mounted with information Perception equipment
Vehicle, handheld information awareness apparatus individual and the fixed information Perception equipment in other garage parkings.
Further, the panoramic table database constructed in the garage parking map that is obtained in the step S01, step S03
The map provided with other Map Services quotient that can network combines.
Further, the perception information of each coordinate points includes the perception information for looking around the coordinate points, specially respectively
The image or video information for looking around the coordinate points of a navigation angle.
Further, when obtaining coordinate points position, according to according to inertial navigation acquisition relative position or according in picture
One or more landmark informations and shooting picture between relative position conversion obtain relative position.
Further, the perception information includes image, the vehicle record that the navigation angle of vehicle, vehicle picture pick-up device perceive
One of the audio-frequency information received as range information, vehicle audio receiving device that equipment video recording, Radar for vehicle perceive
Or it is several.
It further, further include that the perception information of the repeatable position that background server is received to each coordinate points mutually compares
To, save preferably, reject large error image the step of.
A kind of positioning system acquiring perception data according to mobile terminal, comprising:
Garage parking map obtains module, for acquiring the individual with coordinate of information Perception data into garage parking
Point；
Information Perception data acquisition module acquires information Perception data for collecting into garage parking；
Panoramic table database sharing module for collecting coordinate acquisition point and perception information, and constructs relative coordinate system
Under garage parking panoramic table database；
Mobile terminal perception information acquisition module, for acquiring surrounding's perception information of mobile terminal and extracting feature letter
Breath；
Comparative analysis module, the characteristic information obtained for mobile terminal perception information acquisition module and panorama database phase
Compare, analyze, determining the position of mobile terminal.
It further, further include mobile terminal display module, for showing positioning result in mobile terminal display module
On.
Further, further include semantic segmentation module, for rejecting other objects in image in addition to scene, and then obtain
To the image of pure scene.
It further, further include relative position conversion module, for the phase of one or more landmark informations in picture
Position and picture relative position are converted to obtain the relative position of shooting coordinate points.
The embodiment of the present invention also provides a kind of mobile terminal, and the mobile terminal includes as described above according to mobile whole
The system of the positioning of end acquisition perception data.It is above-mentioned to it is described according to mobile terminal acquire perception data positioning system
It is described in detail, details are not described herein.Wherein, the mobile terminal is, for example, mobile phone, PAD, or computer or clothes
Business device etc..
In another embodiment, mobile terminal includes processor and memory, and the memory is stored with program instruction, institute
It states processor operation program instruction and realizes step in method as described above.The mobile terminal is, for example, smart phone, vehicle
Mounted terminal etc..
The embodiment provides a kind of computer readable storage mediums, are stored thereon with computer program, the journey
The step in method as described above is realized when sequence is executed by processor.
As described above, of the invention has the advantages that
Information Perception data are acquired by crowdsourcing vehicles or pedestrians and establish garage parking panorama database, and people appoints in garage parking
One station acquisition image or video can solve and stop according to the position for comparing determining people in characteristics of image and panorama database
Garage positioning is difficult, looks for the problem of road hardly possible.Other objects in image in addition to scene are rejected by semantic segmentation technology, and then are obtained
To the panorama database of pure scene, the error that image background is generated when application image identifies in database is reduced, improves parking
Library positioning accuracy.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is shown as flow chart of the invention.
Fig. 2 is shown as detailed flow chart in one embodiment of the invention.
Fig. 3 is shown as schematic top plan view when acquisition for mobile terminal image information of the present invention.
Fig. 4 is shown as the flow chart of back-end server comparison in one embodiment of the invention, analysis characteristic information.
Fig. 5 is shown as obtaining schematic top plan view when video information in another embodiment of the present invention.
Fig. 6 is shown as having the flow chart of semantic segmentation technology in the present invention.
Fig. 7 is shown as the flow chart of another embodiment in the present invention.
Specific embodiment
Illustrate embodiments of the present invention below by way of specific specific example, those skilled in the art can be by this specification
Other advantages and efficacy of the present invention can be easily understood for disclosed content.The present invention can also pass through in addition different specific realities
The mode of applying is embodied or practiced, the various details in this specification can also based on different viewpoints and application, without departing from
Various modifications or alterations are carried out under spirit of the invention.It should be noted that in the absence of conflict, following embodiment and implementation
Feature in example can be combined with each other.
It should be clear that this specification structure depicted in this specification institute accompanying drawings, ratio, size etc., only to cooperate specification to be taken off
The content shown is not intended to limit the invention enforceable qualifications so that those skilled in the art understands and reads, therefore
Do not have technical essential meaning, the modification of any structure, the change of proportionate relationship or the adjustment of size are not influencing the present invention
Under the effect of can be generated and the purpose that can reach, it should all still fall in disclosed technology contents and obtain the model that can cover
In enclosing.Meanwhile cited such as "upper" in this specification, "lower", "left", "right", " centre " and " one " term, be also only
Convenient for being illustrated for narration, rather than to limit the scope of the invention, relativeness is altered or modified, in no essence
It changes under technology contents, when being also considered as the enforceable scope of the present invention.
Referring to Fig. 1, a kind of localization method acquiring perception data according to mobile terminal, comprising the following steps:
S01: obtaining garage parking map, to enter the individual for acquiring information Perception data in garage parking with obtaining garage parking
Scheme the perception information of each coordinate points；
S02: background server constructs garage parking panoramic table database according to coordinate acquisition point and perception information；
S03: the perception information that mobile terminal is obtained according to itself compared with garage parking panoramic table database, analyze, it is fixed
The position mobile terminal.
Further, the perception information includes any of the following:
The collected raw information of information Perception equipment；
By pretreated perception information；
Characteristic information after extracted feature.
Referring to fig. 2, a kind of localization method acquiring perception data according to mobile terminal, comprising the following steps:
Step S01: including step S011: obtaining garage parking map, step S012: to enter acquiring for garage parking
The individual of information Perception data obtains the perception information of each coordinate points of garage parking map；Step S013: after extracted feature
Characteristic information；Step S014: coordinate acquisition point and perception information or characteristic information are uploaded to background server, step S015:
Garage parking panoramic table database is constructed according to coordinate acquisition point and perception information；Step S016: mobile terminal is obtained according to itself
The perception information taken；Step S017: the perception information of acquisition for mobile terminal uploads background server；Step S018: will be mobile whole
It holds the perception information of itself acquisition compared with garage parking panoramic table database, analyze, position the mobile terminal；Step S019:
Positioning is sent to mobile terminal by background server, S020: mobile terminal is simultaneously shown.
Referring to Fig. 3, further, the mobile terminal 100 according to the perception information itself obtained be image information or
Video information.When eight perception information images of specific acquisition for mobile terminal, as shown, be labeled as the first image 101, second
Image 102, third image 103, the 4th image 104, the 5th image 105, the 6th image 106, the 7th image 107, the 8th image
108, extract characteristic information respectively from this eight images and by the spy of image in a little characteristic informations of extraction and panorama database
Reference manner of breathing compares, and finds out the image with same or similar characteristic information, searches these with same or similar
The coordinate points that the image of characteristic information uploads simultaneously in acquisition judge movement according to the size, angle of characteristic information in image
The positioning of terminal 100 itself acquisition image information.
Referring to fig. 4, as a preferred embodiment, when acquisition for mobile terminal image information, S021: the image information is extracted
One or more characteristic information, S022: by one or more characteristic information and garage parking panoramic table data in image
All images in library with same or similar characteristic information are transferred out, S023: comparing positioning mobile terminal one by one.
As a preferred embodiment, when acquisition for mobile terminal video information, video is original with the coordinate points of the mobile terminal
Point, rotation is turned around or certain angle collects the video looked around, to obtain interval same time or the distance in video information
Perceptual image information of a few frame images as acquisition for mobile terminal of interception, by image one or more characteristic information and
All images in garage parking panoramic table database with same or similar characteristic information are transferred out, are compared positioning one by one and are moved
Dynamic terminal.Referring specifically to Fig. 5, four images are extracted from 360 degree of videos looked around of mobile terminal, are mentioned labeled as the first video
Take image 201, the second video extraction image 202, third video extraction image 203, the 4th video extraction image 204.
As a preferred embodiment, it obtains the interval same time in video information or a few frame framing apart from interception moves
It when dynamic terminal, is positioned using the adjacent image of the same characteristic features information of extraction as reference picture, reduces and scheme in panorama database
Calculation amount when as comparison.Referring to Fig. 5, four images are extracted from 360 degree of videos looked around of mobile terminal, are labeled as first
Video extraction image 201, the second video extraction image 202, third video extraction image 203,204 phase of the 4th video extraction image
The distance interval of two adjacent images be it is the same, it is orthogonal.Extract the characteristic information of the first video extraction image 201 and with
Panorama database compares, and 20 images similar with the first video extraction image 201 are found out in panorama database；It extracts again
The characteristic information of second video extraction image 202 and compared with panorama database finds out 30 and the in panorama database
The similar image of two video extraction image 202；By 20 similar images of the first video extraction image 201 and 30 the second videos
The characteristic information for extracting the similar image of image 202 compares, and extracts the image in the 50 width image with same characteristic features information,
Assuming that thering is the first video extraction image 201 and 202 overlapping features information of the second video extraction image to have 30 width；Extract third video
Extract image 203 characteristic information and compared with panorama database, 40 are found out in panorama database and is mentioned with third video
The similar image of image 203 is taken, by this 40 image zooming-out characteristic informations similar with third video extraction image 203 and with
It is special to extract overlapping compared with 30 width of 202 overlapping features information of the second video extraction image again for one video extraction image 201
Reference breath, obtains 20 the first video extraction images 201, the second video extraction image 202,203 phase of third video extraction image
The image of mutual overlapping features information, extract the characteristic information of the 4th video extraction image 204 and with the image in panorama database
Compare, obtain 20 width of image similar with the 4th video extraction image 204, extract the characteristic information in this 20 width image and with
First video extraction image 201, the second video extraction image 202, third video extraction image 203 mutual overlapping features information
Characteristic information in image (20 width) is compared, and obtains 10 the first video extraction images 201, the second video extraction image
202, the mutually overlapping image information of third video extraction image 203, the 4th video extraction image 204, four width images are mutually handed over
Folded characteristic information goes out coordinate points in garage parking Orientation on map.
Referring to Fig. 6, as a preferred embodiment, the perception information that will acquire by semantic segmentation reject image in except scene with
Other outer objects, and then the image of pure scene is obtained, then construct panoramic table database.
As a preferred embodiment, it is described obtain garage parking map method be using garage parking basic map as garage parking
Figure constructs garage parking map with SLAM.
As a preferred embodiment, the individual for acquiring information Perception data into garage parking is to be mounted with information sense
Know the fixed information Perception equipment in the vehicle of equipment, the individual of handheld information awareness apparatus and other garage parkings.
As a preferred embodiment, the panoramic table constructed in the garage parking map that is obtained in the step S01, step S03
Database can network to be combined with the map of other Map Services quotient offer.
As a preferred embodiment, the perception information of each coordinate points includes the perception information for looking around the coordinate points, tool
Body is the image or video information for looking around the coordinate points of each navigation angle.
As a preferred embodiment, obtain coordinate points position when, according to according to inertial navigation obtain relative position or according to
Relative position conversion obtains relative position between one or more landmark informations in picture and shooting picture.
As a preferred embodiment, the perception information include the navigation angle of vehicle, vehicle picture pick-up device perceive image,
In the audio-frequency information that range information, the vehicle audio receiving device that the video recording of vehicle video recording equipment, Radar for vehicle perceive receive
One or more.
It further include the repeatable position that background server is received to each coordinate points as a preferred embodiment referring to Fig. 7
Perception information mutually compares, save preferably, reject the step of large error image.
A kind of positioning system acquiring perception data according to mobile terminal, comprising:
Garage parking map obtains module, for acquiring the individual with coordinate of information Perception data into garage parking
Point；
Information Perception data acquisition module acquires information Perception data for collecting into garage parking；
Panoramic table database sharing module for collecting coordinate acquisition point and perception information, and constructs relative coordinate system
Under garage parking panoramic table database；
Mobile terminal perception information acquisition module, for acquiring surrounding's perception information of mobile terminal and extracting feature letter
Breath；
Comparative analysis module, the characteristic information obtained for mobile terminal perception information acquisition module and panorama database phase
Compare, analyze, determining the position of mobile terminal.
As a preferred embodiment, further including mobile terminal display module, being shown for showing positioning result in mobile terminal
Show in module.
It as a preferred embodiment, further include semantic segmentation module, for rejecting other objects in image in addition to scene,
And then obtain the image of pure scene.
It as a preferred embodiment, further include relative position conversion module, for one or more terrestrial references letter in picture
The relative position and picture relative position of breath are converted to obtain the relative position of shooting coordinate points.
The embodiment of the present invention also provides a kind of mobile terminal, and the mobile terminal includes as described above according to mobile whole
The system of the positioning of end acquisition perception data.It is above-mentioned to it is described according to mobile terminal acquire perception data positioning system
It is described in detail, details are not described herein.Wherein, the mobile terminal is, for example, mobile phone, PAD, or computer or clothes
Business device etc..
In another embodiment, mobile terminal includes processor and memory, and the memory is stored with program instruction, institute
It states processor operation program instruction and realizes step in method as described above.The mobile terminal is, for example, smart phone, vehicle
Mounted terminal etc..
The embodiment provides a kind of computer readable storage mediums, are stored thereon with computer program, the journey
The step in method as described above is realized when sequence is executed by processor.
The above-described embodiments merely illustrate the principles and effects of the present invention, and is not intended to limit the present invention.It is any ripe
The personage for knowing this technology all without departing from the spirit and scope of the present invention, carries out modifications and changes to above-described embodiment.Cause
This, includes that institute is complete without departing from the spirit and technical ideas disclosed in the present invention for usual skill in technical field such as
At all equivalent modifications or change, should be covered by the claims of the present invention.
Claims (10)
1. a kind of localization method for acquiring perception data according to mobile terminal, which comprises the following steps:
S01: obtaining garage parking map, each with the individual acquisition garage parking map for acquiring information Perception data for entering garage parking
The perception information of a coordinate points；
S02: background server constructs garage parking panoramic table database according to coordinate acquisition point and perception information；
S03: the perception information that mobile terminal is obtained according to itself compared with garage parking panoramic table database, analyze, positioning should
Mobile terminal.
2. the method according to claim 1, wherein the perception information includes any of the following:
The collected raw information of information Perception equipment；
By pretreated perception information；
Characteristic information after extracted feature.
3. method according to claim 1 or 2, which is characterized in that the mobile terminal is believed according to the perception itself obtained
Breath is image information or video information.
4. according to the method described in claim 3, it is characterized in that, the image is mentioned when acquisition for mobile terminal image information
One or more characteristic information is taken, it will be in one or more characteristic information and garage parking panoramic table database in image
All images with same or similar characteristic information are transferred out, compare positioning mobile terminal one by one.
5. according to the method described in claim 3, it is characterized in that, video is when acquisition for mobile terminal video information with the shifting
The coordinate points of dynamic terminal are origin, and rotation is turned around or certain angle collects the video looked around, to obtain in video information
Be spaced perceptual image as acquisition for mobile terminal of same time or a few frame images apart from interception, by one in image or
All images in multiple characteristic informations and garage parking panoramic table database with same or similar characteristic information are transferred out,
Positioning mobile terminal is compared one by one.
6. method according to claim 4 or 5, which is characterized in that obtain video information in interval same time or away from
When a few frame framing mobile terminals from interception, the adjacent image to extract same characteristic features is positioned as reference picture.
7. a kind of system for the positioning for acquiring perception data according to mobile terminal characterized by comprising
Garage parking map obtains module, for acquiring the individual with coordinate points of information Perception data into garage parking；
Information Perception data acquisition module acquires information Perception data for collecting into garage parking；
Panoramic table database sharing module for collecting coordinate acquisition point and perception information, and constructs under relative coordinate system
Garage parking panoramic table database；
Mobile terminal perception information acquisition module, for acquiring surrounding's perception information of mobile terminal and extracting characteristic information；
Comparative analysis module, the characteristic information obtained for mobile terminal perception information acquisition module are compared with panorama database
To, analyze, determine the position of mobile terminal.
8. a kind of mobile terminal, which is characterized in that the mobile terminal includes mobile terminal acquisition perception data as described above
Positioning system.
9. mobile terminal according to claim 8, which is characterized in that further include processor and memory, the memory
It is stored with program instruction, the processor operation program instruction realizes the step in method as described above.
10. a kind of computer readable storage medium, is stored thereon with computer program, it is characterised in that: the program is by processor
The step in the method as described in claim 1 to 6 any claim is realized when execution.
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| CN115576955B (en) * | 2022-12-07 | 2023-02-14 | 成都智元汇信息技术股份有限公司 | Sensing equipment self-built coordinate information storage method and system based on database |
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