CN110135238A - A kind of marker free networked devices recognition methods based on mobile AR - Google Patents
A kind of marker free networked devices recognition methods based on mobile AR Download PDFInfo
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- CN110135238A CN110135238A CN201910230198.5A CN201910230198A CN110135238A CN 110135238 A CN110135238 A CN 110135238A CN 201910230198 A CN201910230198 A CN 201910230198A CN 110135238 A CN110135238 A CN 110135238A
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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
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. 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
- G01C21/165—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 combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
- G06F16/29—Geographical information databases
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/20—Scenes; Scene-specific elements in augmented reality scenes
Abstract
A kind of marker free networked devices recognition methods based on mobile AR, including internet of things equipment information collection and internet of things equipment after deployment identify two steps when deployment；When disposing internet of things equipment, mobile AR equipment passes through after camera detection to internet of things equipment, pass through image data and multiple sensors data (including global positioning system, accelerometer, gyroscope, electronic compass), the global coordinates of target internet of things equipment are calculated, and will be in its target internet of things equipment ID deposit mapping database with user's input.After deployment, internet of things equipment can be detected by mobile AR equipment camera, it calculates the global coordinates of target internet of things equipment in real time using image data and multiple sensors data, and searches corresponding ID in mapping database, to accurately identify internet of things equipment individual.The present invention provides a kind of simple and effective internet of things equipment recognition methods independent of individual mark, and internet of things equipment is facilitated to configure and diagnose.
Description
Technical field
The present invention relates to internet of things equipment recognition methods, are based particularly on the identification of the marker free networked devices of mobile AR
Method.
Background technique
Target Recognition Algorithms are widely used in identifying specific objective object from complicated image scene.Currently, based on figure
The Target Recognition Algorithms of picture are mainly used for distinguishing different classes of object.However, internet of things equipment may have identical appearance,
Identify that internet of things equipment individual is interacted with internet of things equipment, the key technology including the operations such as configuring, diagnosing, base at present
This target is unable to reach in the Target Recognition Algorithms of image.
To realize the identification to internet of things equipment individual, there has been based on features such as RFID, bar code, wireless signals
Recognition methods.Document [1] Zhu B F, Gui Q.EPC Identification Technology in IOT System
Based on RFID [J] .Journal of Henan Institute of Education, the 2012. i.e. object based on RFID
EPC identification technology and document [2] MONTASER, Ali, MOSELHI, et al.RFID indoor in networked system
location identification for construction projects[J].Automation in
Construction, 2014,39 (4): 167-179. is the construction project of the indoor location identification based on RFID.Wherein, each
Equipment is endowed unique RFID label tag to realize identification, therefore its lower deployment cost is high, and recognition accuracy is easy by signal
Interference.Document [3] Shatte A, Holdsworth J, Lee I.Mobile augmented reality based
context-aware library management system[J].Expert Systems with Applications,
2014,41 (5): 2174-2185. is context-aware management system and document [4] Haramaki based on mobile augmented reality
T,Nishino H.A network topology visualization system based on mobile AR
technology[C].IEEE International Conference on Advanced Information
Networking&Applications.IEEE, the 2015. network topology visualization system i.e. based on mobile AR technology.By
Unique bar code is printed on internet of things equipment to realize individual differentiation.Therefore very high lower deployment cost has been also resulted in.Meanwhile item
Code is easy breakage under environment exposed for a long time, influences recognition effect.Document [5] Haramaki T, Shimizu D, Nishino
H.A wireless network visualizer based on signal strength observation[C].IEEE
International Conference on Consumer Electronics-taiwan.IEEE, 2017. i.e. one kind are based on
The wireless network visualizer of signal strength observation.Document [6] Haramaki T, Nishino H.A Device
Identification Method for AR-based Network Topology Visualization[C]
.International Conference on Broadband&Wireless Computing.IEEE, a kind of 2015. i.e. base
In the visual device identification method of the network topology of AR.Document [7] Mandeljc R, Kristan M, et al.Tracking
by Identification Using Computer Vision and Radio[J].Sensors,2012,13(1):241-
273. carry out recognition and tracking based on computer vision and radio.Document [8] Haramaki T.A sensor fusion
approach for network visualization[C].2016 IEEE International Conference on
Consumer Electronics-Taiwan (ICCE-TW) .IEEE, the 2016. network visualization sides merged based on sensor
Method.Equipment position is judged according to the intensity of wireless signal.Wherein, document [6] and document [7] are herein in connection with image recognition technology
Accuracy of identification is improved, document [8] then utilizes acceleration transducer data on the basis of document [6], by the appearance for judging user
State (come back or bow) is substantially to distinguish the equipment in vertical direction.But wireless signal is vulnerable to environmental disturbances, according to its intensity
Accuracy is poor when being positioned.Meanwhile the technology is mainly used for small area network equipment management, it is difficult to realize a wide range of Internet of Things
The identification of net equipment.Oguntala G, Abd-Alhameed R, Jones S, et al.Indoor location in document [9]
identification technologies for real-time IoT-based applications:An inclusive
Survey [J] .Computer Science Review, 2018,30:55-79. are the real-time indoor position applied based on Internet of Things
It sets identification technology and identifies equipment using Magnetic Field, but this method is easy the interference by magnetic field.
The identification of target internet of things equipment can be abstracted as the orientation problem of the equipment.Document [10] Zhang Bo, Luo Haiyong, recklessly
It is vast, passive target location algorithm [J] Southeast China University's journal (natural science edition) in et al. multimedia sensor network,
2011,41 (2): 266-269. identifies target using the method for multiple video camera co-locateds.Difference with scheme is, makes
With multiple fixing cameras.And this programme only needs a mobile AR equipment that can realize identification.Document [11] Oztarak
H,Akkaya K,Yazici A.Lightweight Object Localization with a Single Camera in
Wireless Multimedia Sensor Networks[C].IEEE Conference on Global
Telecommunications.IEEE, 2009. be that individually the lightweight object of camera is determined in wireless multimedia sensor network
Position carries out target positioning using video camera shooting image.Fixed camera has been used, and has focused primarily upon and calculates target phase
Two-dimensional position offset for video camera.
Summary of the invention
Accuracy in order to overcome the shortcomings of the recognition methods of existing target internet of things equipment is poor, and the present invention proposes one
Marker free networked devices recognition methods of the kind based on mobile AR.This method identifies same type using the camera of mobile AR equipment
Internet of things equipment, then comprehensively utilize multiple sensors data (including global positioning system, accelerometer, gyroscope, electronics
Compass), the global coordinates for calculating target internet of things equipment individual obtain target internet of things equipment only by database matching
One ID.
The technical solution adopted by the present invention to solve the technical problems is:
A kind of unmarked identification internet of things equipment recognition methods based on mobile AR, including information collection and deployment when deployment
Internet of things equipment identifies afterwards；
Wherein, information collection includes following sub-step when deployment:
1.1) after disposing internet of things equipment, user will move AR equipment and be directed at disposed internet of things equipment, start to target
Internet of things equipment carries out information collection；
1.2) mobile AR equipment calculates the global coordinates of target internet of things equipment by image data and sensing data；
1.3) the target internet of things equipment unique address deposit mapping number for inputting the global coordinates being calculated and user
According to library, information collection is completed；
Internet of things equipment identification includes following sub-step after deployment:
2.1) user opens mobile AR equipment, starts internet of things equipment identification；
2.2) when mobile AR equipment detects internet of things equipment by image data, then comprehensive sensor data, calculate mesh
Mark the global coordinates of internet of things equipment；
2.3) it according to obtained target internet of things equipment global coordinates, is retrieved in mapping database, matching pair
The Internet of Things target device unique address answered completes identification.
Further, the step 1.2) and 2.2) in, marker free networked devices global coordinates calculating process are as follows: count first
Relative displacement of the target internet of things equipment in mobile AR equipment standard coordinate system is calculated, to move AR equipment as origin, XsAxis refers to
To due east, YsAxis is directed toward due north, ZsAxis is perpendicular to the ground, then in conjunction with mobile AR equipment global coordinates, calculates target Internet of Things and sets
Standby global coordinates.
The step 1.2) and 2.2) in, marker free networked devices global coordinates calculating process are as follows:
Firstly, calculating in mobile AR equipment standard coordinate system, the vertical displacement of target internet of things equipment:
1.2.1.1 it after) mobile AR equipment detects internet of things equipment, in collected image information, calculates in movement
In AR equipment camera coordinate system, the transposed matrix of target internet of things equipment；And by this transposed matrix, calculates and set in mobile AR
Line and mobile AR equipment video camera in standby camera coordinate system between coordinate origin and target internet of things equipment coordinate are sat
Mark system XcZcThe angle α that plane is formed:
Wherein, xc、yc、zcIndicate displacement of the target internet of things equipment in mobile AR equipment camera coordinate system；
1.2.1.2) using the accelerometer and gyroscope of mobile AR equipment, mobile AR equipment pitch angle β is calculated, that is, is moved
AR equipment camera coordinate system YcAxis and mobile AR equipment standard coordinate system XsYsThe angle of plane, and by α and β, calculate target
Internet of things equipment and mobile AR equipment room line and mobile AR equipment standard coordinate system XsYsThe angle γ of plane；
1.2.1.3) according to γ, vertical displacement of the target internet of things equipment in mobile AR equipment standard coordinate system is calculated
zs:
Then, it calculates in mobile AR equipment standard coordinate system, the horizontal displacement of target internet of things equipment:
1.2.2.1 it after) mobile AR equipment recognizes internet of things equipment, in collected image information, calculates in movement
In AR equipment camera coordinate system, the transposed matrix of target internet of things equipment, and calculated by this transposed matrix and set in mobile AR
In standby camera coordinate system between target internet of things equipment and coordinate origin line in XcZcProjection and X in planecThe folder of axis
Angle θ:
Wherein, xc、zcTarget internet of things equipment is respectively indicated in mobile AR equipment camera coordinate system in XcAxis and ZcAxis
On displacement；
1.2.2.2) using the electronic compass of mobile AR equipment, the magnetic heading angle δ of mobile AR equipment is calculated, and passes through θ and δ
Calculate the magnetic heading angle ε of target internet of things equipment:
1.2.2.3) according to ε, target internet of things equipment is calculated in the horizontal displacement x of mobile AR equipment standard coordinate systems、ys:
Finally, by xs、ys、zsThe longitude and latitude for being converted to target internet of things equipment relative movement AR equipment under global coordinates is poor
And difference in height, it is added with mobile AR equipment by the global coordinates that global positioning system obtains, obtains target internet of things equipment
Global coordinates.
The step 1.2) and 2.2) in, the sensor includes global positioning system, accelerometer, gyroscope and electronics
Compass.
Technical concept of the invention are as follows: when disposing internet of things equipment, mobile AR equipment passes through camera detection to Internet of Things
After net equipment, pass through image data and multiple sensors data (including global positioning system, accelerometer, gyroscope and electronics
Compass), the global coordinates of target internet of things equipment are calculated, and the unique ID of target internet of things equipment of itself and user's input is stored in
In mapping database.During internet of things equipment is configured and diagnosed after deployment, mobile AR equipment camera detectable substance can be passed through
Networked devices, the global coordinates of target internet of things equipment are calculated using image data and multiple sensors data in real time, and are being reflected
It penetrates in database and searches corresponding ID, to accurately identify internet of things equipment individual.
The beneficial effects of the present invention are: propose a kind of letter using mobile AR equipment unique identification internet of things equipment individual
Just method, to simplify internet of things equipment configuration and diagnosis.
Detailed description of the invention
Fig. 1 is a kind of marker free networked devices recognition methods flow chart based on mobile AR of the invention.
Fig. 2 is that target internet of things equipment vertical displacement meter calculates schematic diagram.
Fig. 3 is that target internet of things equipment horizontal displacement meter calculates schematic diagram.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and examples.
Referring to Fig.1~Fig. 3, a kind of recognition methods of the marker free networked devices based on mobile AR, including believe when deployment
Equipment identifies after breath acquisition and deployment；
Wherein, information collection includes following sub-step when deployment:
1.1) after disposing internet of things equipment, user will move AR equipment and be directed at disposed internet of things equipment, start to target
Internet of things equipment carries out information collection；
1.2) mobile AR equipment calculates the global coordinates of target internet of things equipment by image data and sensing data；
1.3) the target internet of things equipment unique address deposit mapping number for inputting the global coordinates being calculated and user
According to library, information collection is completed；
Internet of things equipment identification includes following sub-step after deployment:
2.1) user opens mobile AR equipment, starts internet of things equipment identification；
2.2) when mobile AR equipment detects internet of things equipment by image data, then comprehensive sensor data, calculate mesh
Mark the global coordinates of internet of things equipment；
2.3) it according to obtained target internet of things equipment global coordinates, is retrieved in mapping database, matching pair
The Internet of Things target device unique address answered completes identification.
Referring to Fig. 2, calculate in mobile AR equipment standard coordinate system, the vertical displacement of target internet of things equipment:
1.2.1.1 it after) mobile AR equipment detects internet of things equipment, in collected image information, calculates in movement
In AR equipment camera coordinate system, the transposed matrix of target internet of things equipment；And by this transposed matrix, calculates and set in mobile AR
Line and mobile AR equipment video camera in standby camera coordinate system between coordinate origin and target internet of things equipment coordinate are sat
Mark system XcZcThe angle α that plane is formed:
Wherein, xc、yc、zcIndicate displacement of the target internet of things equipment in mobile AR equipment camera coordinate system；
1.2.1.2) using the accelerometer and gyroscope of mobile AR equipment, mobile AR equipment pitch angle β is calculated, that is, is moved
AR equipment camera coordinate system YcAxis and mobile AR equipment standard coordinate system XsYsThe angle of plane), and by α and β, calculate mesh
Mark internet of things equipment and mobile AR equipment room line and mobile AR equipment standard coordinate system XsYsThe angle γ of plane；
1.2.1.3) according to γ, vertical displacement of the target internet of things equipment in mobile AR equipment standard coordinate system is calculated
zs:
Referring to Fig. 3, calculate in mobile AR equipment standard coordinate system, the horizontal displacement of target internet of things equipment:
1.2.2.1 it after) mobile AR equipment recognizes internet of things equipment, in collected image information, calculates in movement
In AR equipment camera coordinate system, the transposed matrix of target internet of things equipment, and calculated by this transposed matrix and set in mobile AR
In standby camera coordinate system between target internet of things equipment and coordinate origin line in XcZcProjection and X in planecThe folder of axis
Angle θ:
Wherein, xc、zcTarget internet of things equipment is respectively indicated in mobile AR equipment camera coordinate system in XcAxis and ZcAxis
On displacement；
1.2.2.2) using the electronic compass of mobile AR equipment, the magnetic heading angle δ of mobile AR equipment is calculated, and passes through θ and δ
Calculate the magnetic heading angle ε of target internet of things equipment:
1.2.2.3) according to ε, target internet of things equipment is calculated in the horizontal displacement x of mobile AR equipment standard coordinate systems、ys:
Finally, by xs、ys、zsThe longitude and latitude for being converted to target internet of things equipment relative movement AR equipment under global coordinates is poor
And difference in height, it is added with mobile AR equipment by the global coordinates that global positioning system obtains, obtains target internet of things equipment
Global coordinates.
Claims (4)
1. a kind of marker free networked devices recognition methods based on mobile AR, which is characterized in that the method includes when deployment
Internet of things equipment identifies after information collection and deployment；
Information collection includes following sub-step when the deployment:
1.1) after disposing internet of things equipment, user will move AR equipment and be directed at disposed internet of things equipment, start to target Internet of Things
Net equipment carries out information collection；
1.2) mobile AR equipment calculates the global coordinates of target internet of things equipment by image data and sensing data；
1.3) the target internet of things equipment unique address that the global coordinates being calculated and user input is stored in mapping database,
Information collection is completed；
Internet of things equipment identification includes following sub-step after the deployment:
2.1) user opens mobile AR equipment, starts internet of things equipment identification；
2.2) when mobile AR equipment detects internet of things equipment by image data, then comprehensive sensor data, calculate object
The global coordinates of networked devices；
2.3) it according to obtained target internet of things equipment global coordinates, is retrieved, is matched corresponding in mapping database
Internet of Things target device unique address completes identification.
2. the marker free networked devices recognition methods as described in claim 1 based on mobile AR, which is characterized in that the step
It is rapid 1.2) and 2.2) in, marker free networked devices global coordinates calculating process are as follows: calculating target internet of things equipment first is moving
Relative displacement in dynamic AR equipment standard coordinate system, to move AR equipment as origin, XsAxis is directed toward due east, YsAxis is directed toward due north, Zs
Axis is perpendicular to the ground, then in conjunction with mobile AR equipment global coordinates, calculates the global coordinates of target internet of things equipment.
3. the marker free networked devices recognition methods as claimed in claim 2 based on mobile AR, which is characterized in that the step
It is rapid 1.2) and 2.2) in, marker free networked devices global coordinates calculating process are as follows:
Firstly, calculating in mobile AR equipment standard coordinate system, the vertical displacement of target internet of things equipment, steps are as follows:
1.2.1.1 it after) mobile AR equipment detects internet of things equipment, in collected image information, calculates and is set in mobile AR
In standby camera coordinate system, the transposed matrix of target internet of things equipment；And by this transposed matrix, calculates and taken the photograph in mobile AR equipment
Line and mobile AR equipment camera coordinate system in camera coordinate system between coordinate origin and target internet of things equipment coordinate
XcZcThe angle α that plane is formed:
Wherein, xc、yc、zcIndicate displacement of the target internet of things equipment in mobile AR equipment camera coordinate system；
1.2.1.2) using the accelerometer and gyroscope of mobile AR equipment, mobile AR equipment pitch angle β is calculated, that is, moves AR and sets
Standby camera coordinate system YcAxis and mobile AR equipment standard coordinate system XsYsThe angle of plane, and by α and β, calculate target Internet of Things
Net equipment and mobile AR equipment room line and mobile AR equipment standard coordinate system XsYsThe angle γ of plane；
1.2.1.3) according to γ, vertical displacement z of the target internet of things equipment in mobile AR equipment standard coordinate system is calculateds:
Then, it calculates in mobile AR equipment standard coordinate system, the horizontal displacement of target internet of things equipment, steps are as follows:
1.2.2.1 it after) mobile AR equipment recognizes internet of things equipment, in collected image information, calculates and is set in mobile AR
In standby camera coordinate system, the transposed matrix of target internet of things equipment, and calculated by this transposed matrix and taken the photograph in mobile AR equipment
In camera coordinate system between target internet of things equipment and coordinate origin line in XcZcProjection and X in planecThe angle theta of axis:
Wherein, xc、zcTarget internet of things equipment is respectively indicated in mobile AR equipment camera coordinate system in XcAxis and ZcOn axis
Displacement；
1.2.2.2) using the electronic compass of mobile AR equipment, the magnetic heading angle δ of mobile AR equipment is calculated, and is calculated by θ and δ
The magnetic heading angle ε of target internet of things equipment:
1.2.2.3) according to ε, target internet of things equipment is calculated in the horizontal displacement x of mobile AR equipment standard coordinate systems、ys:
Finally, by xs、ys、zsBe converted to the longitude and latitude difference and height of target internet of things equipment relative movement AR equipment under global coordinates
It is poor to spend, and is added with mobile AR equipment by the global coordinates that global positioning system obtains, obtains the whole world of target internet of things equipment
Coordinate.
4. the marker free networked devices recognition methods based on mobile AR as described in one of claims 1 to 3, feature exist
In, the step 1.2) and 2.2) in, the sensor includes global positioning system, accelerometer, gyroscope and electronic compass.
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