CN110580721A - Continuous area positioning system and method based on global identification map and visual image identification - Google Patents
Continuous area positioning system and method based on global identification map and visual image identification Download PDFInfo
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- CN110580721A CN110580721A CN201910831393.3A CN201910831393A CN110580721A CN 110580721 A CN110580721 A CN 110580721A CN 201910831393 A CN201910831393 A CN 201910831393A CN 110580721 A CN110580721 A CN 110580721A
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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
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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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
- G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
- G06K7/14—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation using light without selection of wavelength, e.g. sensing reflected white light
- G06K7/1404—Methods for optical code recognition
- G06K7/1408—Methods for optical code recognition the method being specifically adapted for the type of code
- G06K7/1417—2D bar codes
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
- G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
- G06K7/14—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation using light without selection of wavelength, e.g. sensing reflected white light
- G06K7/1404—Methods for optical code recognition
- G06K7/1439—Methods for optical code recognition including a method step for retrieval of the optical code
- G06K7/1443—Methods for optical code recognition including a method step for retrieval of the optical code locating of the code in an image
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
- G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
- G06K7/14—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation using light without selection of wavelength, e.g. sensing reflected white light
- G06K7/1404—Methods for optical code recognition
- G06K7/146—Methods for optical code recognition the method including quality enhancement steps
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
Abstract
A continuous area positioning system and method based on global identification map and visual image identification is composed of a region to be positioned, coordinates, an identification map, a database, an image acquisition and visual image identification information system. Setting the universe identification means to define an identification map recognizable for the whole universe in the area to be located, the identification map is distributed to the corresponding area by definition, and can be but not limited to be set on the ground or the top surface, the side surface or a mixed setting, and the coordinates of the area in the universe can be known by identifying a part of the universe.
Description
Technical Field
The invention relates to the technical field of positioning systems and methods for global marker map definition and video identification, in particular to a continuous area positioning system and a continuous area positioning method based on global marker maps and video identification.
background
The satellite positioning system and method, utilize many satellite signals that the relative position is fixed to calculate the relative position and confirm one's own position, such as GPS and big dipper system, the disadvantage is that there is no signal in the enclosed space;
The indoor wireless signal positioning system and the method use signals such as wifi, infrared rays, ultrasonic waves, laser and the like to calculate relative positions to determine the position of the indoor wireless signal positioning system, and have the defect of high cost;
The gyroscope can generate three-dimensional displacement data, and can carry out relative position positioning based on an initial position, so that the gyroscope has the defects of high cost, low anti-interference capability and accumulative error;
the vision positioning system and the method obtain the relative position by comparing the peripheral images, and have the defects of large calculation amount and large influence on the precision by image similarity interference and calculation;
for the known space, some traditional technologies, such as magnetic nail positioning, magnetic stripe positioning and steel strip positioning, are absolute position positioning systems and methods, and have the defects that a path needs to be preset, magnetic nails, magnetic strips, steel strips and the like are arranged, and the two-dimensional code positioning technology developed later is the development of the technologies;
The emerging scanning two-dimensional code positioning system and method use a prepositioned two-dimensional code to replace a magnetic nail, utilize the current mature two-dimensional code scanning technology, scan the code to determine the content of the two-dimensional code so as to obtain the current position, and have the defects that the point-to-point positioning needs the assistance of gyroscope inertial positioning, and the gyroscope correction is continuously carried out; some patent applications adjust the position of the two-dimensional code in order to avoid the previous patents, and the two-dimensional code is still based on the technology of positioning the position point by the two-dimensional code in nature whether the two-dimensional code is arranged on the ground, on the top or on the side.
In addition, a navigation system based on path drawing and video recognition is also provided, the drawn line is a path, direct navigation is realized, and the application range is narrow.
In summary, the prior art shows that the future development direction of open space positioning is to improve the precision, and the development direction of closed space positioning is to reduce the cost, improve the flexibility and improve the precision.
Disclosure of Invention
The invention aims to define coordinates and identifiable marking images for an area to be positioned, the coordinates and the marking images form association and are stored in a marking coordinate database, visual image identification is carried out on local images of the marking images acquired by a positioning area, an information system outputs the coordinates of the positioning area by inquiring the marking coordinate database, images are continuously acquired for identification, and continuous position area positioning is realized according to an identification result. Setting the universe identification means to define an identification map recognizable for the whole universe in the area to be located, the identification map is distributed to the corresponding area by definition, and can be but not limited to be set on the ground or the top surface, the side surface or a mixed setting, and the coordinates of the area in the universe can be known by identifying a part of the universe.
In order to solve the technical problems, the technical scheme of the invention is as follows:
1. A continuous area positioning system and method based on global identification map and visual image identification is composed of a region to be positioned, coordinates, an identification map, a database, an image acquisition and visual image identification information system.
2. furthermore, the area to be located may be, but is not limited to, a wide area or a local area, may be, but is not limited to, open or closed, and may be, but is not limited to, both of the above states, and the identifier map and the area may be, but is not limited to, in one-to-one or many-to-one relationship, that is, the same area may define a unique identifier map or may define multiple identifier maps, and any identifier map locally locates one area.
3. Further, coordinates, as defined by the positioning system and method, may be, but are not limited to, two-dimensional, three-dimensional positioning coordinates and/or information related to the positioning.
4. Furthermore, the identification map is defined by the positioning system and method, and may be but not limited to using the part of the pixel forming the self-defined recognizable figure, symbol, identifier, two-dimensional code or picture, drawing, image as the basic element of the identification map, the basic element of the identification map may but not limited to using different attributes such as size, color, rotation angle, etc. as the new basic element of the identification map, the basic elements of the identification map are arranged and combined to form the identifiable identification map of the universe, the arrangement and combination mode of the basic elements of the identification map may but not limited to being gridded to form the basic element matrix or combination, and may but not limited to being distributed arbitrarily to form the identification map, when not limited to the basic elements of the identification map, the basic element matrix or combination and the coordinate of the identified location area forming a one-to-one relationship, the identification map may but, the visual image recognizes the partial image of the whole image to know the position area in the whole area, and the identification coordinate precision is related to the identification image precision and the visual image recognition precision.
5. Further, the identification coordinate database may be, but is not limited to, storing the data associating the coordinates and the identification map in the database.
6. Furthermore, the image acquisition can be but is not limited to acquiring the local image of the marker map by using an image acquisition technology, the image acquisition device has a relative position relation with the acquired image, and the acquired image can reflect the position of the object to be positioned.
7. further, the video identification and information system can be, but is not limited to, identifying the local image of the collected identification map and performing information query operation by using a video identification and information technology to provide the area coordinate and the state of the object to be positioned.
The invention has the beneficial effects that: the method has the advantages that the simple mode of global marker map identification is used, the area-to-area continuous positioning with lower cost and higher precision is realized, the point-to-point discontinuity or point-to-line positioning in the prior art is improved, the key line is not flexibly arranged, the object motion line cannot fully utilize the defect of the operable space in the area, and the method has the advantage that the flexible and full coverage of the path can be realized by the area-to-area continuous positioning.
Drawings
FIG. 1 is a system flow diagram of the present invention;
Specifically, the method comprises the following steps: a continuous area positioning system and a method flow chart based on global identification map and visual image identification, wherein a transverse area is a system component element: the system comprises a region to be positioned, a marker chart, a database, an information system, an image and coordinates; the longitudinal process is the process of the system element treatment: defining, identifying, laying, identifying and positioning. Specifically, global definition coordinates and marking graphs of a region to be positioned are represented, the marking graphs are arranged in place to form one-to-one association of the marks and the coordinates, data are stored in a marking coordinate database, local images of the collected marking graphs are subjected to image identification, regional positioning is achieved by inquiring and outputting regional coordinates through an information system, and continuous images are collected continuously to be identified to achieve continuous regional positioning.
FIG. 2 is a schematic diagram showing the relative positions of the marker region and the image acquisition;
Specifically, the method comprises the following steps: the four images are schematic diagrams of relative positions of an image acquisition area and a local marker diagram, the marker diagram defines an XY-axis plane coordinate system, the coordinate system can be but is not limited to marking diagram coordinates by metric system units, areas a1 to i9 represent the local marker diagram, areas 1 to 9 are X-axis (transverse) area markers, areas a to i are Y-axis (longitudinal) area markers, the areas are divided into 81 area units in a grid mode, the area units are separated by marked lines, the image acquisition areas rotate in the counterclockwise direction of an XY-axis coordinate system by 0 degree, 15 degrees, 30 degrees and 45 degrees respectively from top to bottom, the acquired image acquisition areas can be identified to correspond to the area coordinates of the local marker diagram, the area coordinates comprise angles of the acquisition areas and the XY-axis of the marker diagram, and more included angles are omitted.
FIG. 3 is a schematic diagram of the combination of the basic elements of the identification chart into the basic elements of the identification chart to form the identification chart
Specifically, the marker map defines an XY-axis plane coordinate system, which may be, but is not limited to, calibration of marker map coordinates by metric units, and the regions a1 to i9 are local to the marker map, where the regions a1 to c6 divide the region into 18 region units a1 to c6 in a grid manner, the region units are separated by marker lines, and each region unit has a marker map basic unit composed of 3 by 3 matrix-form marker map basic elements. The figure mainly illustrates the composition and forming mode of the identification map, and in practical application, the principle that the local image of the collected identification map can uniquely identify the area coordinates is taken as a principle, and the area coordinates of the identification map in the identification map can be uniquely associated by itself without overlapping the basic elements of the identification map in a possible situation, and the area coordinates of the identification map in the identification map can be also uniquely associated by itself in a possible situation that the basic elements of the identification map are overlapped, but after the basic elements of different areas are arranged and combined, the area coordinates of the identification map in the identification map can be uniquely associated by the local part of the identification map, and the mode of the identification map basic unit composed of the basic elements of the identification map can be but not limited to.
FIG. 4 is a schematic diagram of a part of an identification chart, a basic unit of the identification chart separated by a marked line, basic elements of the identification chart and a combination mode of the basic elements
Specifically, the method comprises the following steps: the a 1-c 6 area identification diagram basic units are composed of 3-by-3 matrixes of identification diagram basic elements such as numbers, letters, lines, symbols, graphs, identifiers, two-dimensional codes and the like. Wherein a 1-a 2 are digital matrix schematic; a 3-a 4 are letter matrix illustrations; a 5-a 6 are symbol matrices; b 1-b 2 are transverse line matrixes; b 3-b 4 are various basic element mixed combination matrixes; b 5-b 6 are vertical line matrixes; c 1-c 2 are mixed combination matrixes of various basic units; c 3-c 4 are graphic matrices; c5 to c6 are two-dimensional code matrices (different two-dimensional codes are identified by different additional symbols). The schematic diagram is only illustrative, the component elements and the component structures of the basic units of the identification chart can be arranged and combined in various ways, the basic units of the identification chart can also be filled with the area units in various ways, and the basic elements of the identification chart are also composed of smaller elements.
FIG. 5 is a combined schematic diagram of the identification map parts and the identification map basic units without being separated by the marked lines, the identification map basic unit elements being added and distinguished by the thickness attribute
Specifically, the method comprises the following steps: taking the areas a1 to c6 as examples of local identification charts, defining an XY-axis plane coordinate system, wherein the coordinate system can adopt metric units to calibrate identification chart coordinates, 1 to 6 are X-axis (transverse) area identifications, a to c are Y-axis (longitudinal) area identifications, the areas are divided into 18 area units a1 to c6 in a grid mode, the area units are not separated by marked lines, each area unit is provided with identification chart basic units in a 3-by-3 matrix form, and the identification chart basic units are composed of numbers, letters, lines, symbols, graphs, identifiers, two-dimensional codes and the like. Wherein a 1-a 2 are digital matrix schematic; a 3-a 4 are letter matrix illustrations; a 5-a 6 are symbol matrices; b 1-b 2 are transverse different thickness line matrixes; b 3-b 4 are various basic unit multi-state mixed combination matrixes; b 5-b 6 are vertical different thickness line matrixes; c 1-c 2 are multiple basic unit multi-state mixed combination matrixes; c 3-c 4 are graphic matrices; c5 to c6 are two-dimensional code matrices (different two-dimensional codes are identified by different additional symbols). The schematic diagram is only illustrative, the component elements and the component structures of the basic units of the identification chart can be arranged and combined in various ways, the basic units of the identification chart can also be filled with the area units in various ways, and the basic elements of the identification chart are also composed of smaller elements. The unmarked lines are only possible ways of arranging the basic elements of the identification chart, so that the basic elements of the identification chart are convenient to be randomly distributed, and the schematic diagram of random distribution is not listed again based on the description similarity required by visual image identification.
FIG. 6 is a schematic diagram showing a two-dimensional code matrix forming an identification chart base unit, the identification chart base unit forming an identification chart, and the identification chart can define different coordinate precisions;
Specifically, the method comprises the following steps: two-dimension codes are used as basic elements of the identification map, two-dimension code matrixes form basic units of the identification map, and the basic units of the identification map form a schematic representation of the identification map. The system positioning accuracy is related to the accuracy and the recognition accuracy of the marker map, and under the condition that the marker map accuracy meets the requirements of layout and image equipment for recognition, the system can define different area coordinate accuracies, for example, areas a1 to c3 can be defined as a, and j1 can be made into a two-dimensional code matrix. The schematic diagram takes two-dimension codes as basic elements of an identification diagram for explanation: in practical application, the principle that the local image of the collected identification map can uniquely identify the area coordinate is taken as a principle, there may be a case that the basic elements of the identification map in the identification map are not overlapped, and the area coordinate in the identification map is uniquely associated with the basic elements of the identification map, and a case that the basic elements of the identification map are overlapped, but after the basic elements in different areas are arranged and combined, the area coordinate in the identification map is uniquely associated with the local part of the identification map, and the mode of the basic unit of the identification map formed by the basic elements of the identification map can be but not limited to an x-by-y matrix or other arbitrary distribution mode. The binding region may define a unique identifier map or a plurality of identifier maps, and identifier maps of different precisions may be defined for different regions of the region or for different carts.
In summary, compared with the prior art, the invention defines the coordinates and the identifiable tag map of the area to be located, the coordinates and the tag map form association and are stored in the tag coordinate database, the local image of the tag map collected in the location area is identified by the visual image, the information system outputs the coordinates of the location area by inquiring the tag coordinate database, the image is collected continuously for identification, and the location of the continuous location area is realized according to the identification result. Setting the universe identification means to define an identification map recognizable for the whole universe in the area to be located, the identification map is distributed to the corresponding area by definition, and can be but not limited to be set on the ground or the top surface, the side surface or a mixed setting, and the coordinates of the area in the universe can be known by identifying a part of the universe. The innovation points are as follows: predefining a global marker map and coordinates, laying the global marker map, collecting local area images for visual image identification, realizing location area positioning according to an identification result, and continuously collecting continuous identification to realize continuous location area positioning.
Detailed Description
The positioning of the automatic navigation trolley running between workshop stations is taken as an example for explanation:
Embodiment 1, a marker map as shown in fig. 3, 4 or 5 is defined in a region to be located, XY axis coordinates are defined, a marker map basic unit is filled in the marker map region according to location accuracy in a gridding manner, marker maps are laid on the whole workshop area or a trolley driving region and the periphery, the marker map basic elements forming the marker map basic unit are arranged and combined to form a one-to-one association relationship with position coordinates, the association relationship and the related information corresponding to the coordinates, such as height, color, temperature and the like, are stored in a marker coordinate database, an automatic navigation trolley is provided with a camera to shoot the laid marker map, the marker map is generally arranged on the ground and correspondingly provided with the camera to shoot ground images, the camera is arranged at a position so that the image acquisition region and the trolley body position have a corresponding relationship, namely, the image can reflect the trolley position, and the image acquired by the camera in the trolley driving process is identified by the image, as shown in fig. 2, the image of the image collection area is subjected to image recognition, and is subjected to information system query operation, so as to continuously collect and continuously identify the area coordinates where the trolley is located in the universe and information thereof, and the continuous area positioning result can obtain the continuous area coordinates and the state (including deflection angle) information of the trolley. The positioning is continuously performed in the whole process of the travel and is only limited by the speed of the shooting and the calculation. The small surface of the image shot by the camera is continuously identified, and the small surface is positioned in the large surface of the identification chart, so that the position area and the deflection angle information of the trolley are obtained, and the system and the method for positioning the continuous area from the surface to the surface are formed.
embodiment 2, based on the idea described in embodiment 1, the two-dimensional code illustrated in fig. 6 is used as a basic element of the identification map, and the two-dimensional code matrix constitutes an identification map, and the basic unit of the identification map constitutes an identification map, which is an example to illustrate that the continuous area positioning accuracy of the present invention is wide in adaptability, flexible and adjustable. The two-dimension code is a mature and efficient image identification technology, and the two-dimension code matrix is used as a basic element of an identification chart, so that efficient operation can be realized by means of the two-dimension code identification technology. In practical applications, the accuracy of image recognition and the accuracy of image acquisition are high, the main influence factor of the system accuracy is the accuracy of the identification image, and taking the identification image to be printed or arranged after printing as an example, 413 pixels can be distributed on the length of 35mm, that is, 1mm can define 11.8 pixels, for example, 21 matrix of two-dimensional code version1 is used as the minimum unit of the identification, an accuracy region about 2mm is equivalent, for example, 177 matrix of the highest-level version40 is used as the minimum unit of the identification, and an accuracy region about 15mm is used as the minimum unit. That is to say, under a general printing condition, the two-dimensional code is used as a basic element of the identification diagram to form the identification image for positioning, the two-dimensional code selection of the minimum identification area in the image identification can be determined according to the required positioning precision, and the precision of different grades from 2mm by 2mm to 15mm by 15mm can be achieved, for example, the resolution of the identification diagram is improved, and the precision can also be improved. The millimeter-scale area positioning precision in practical application already meets the requirements of most applications.
in embodiment 3, the layout of the marker map over the entire area is optimized based on the descriptions in embodiments 1 and 2. The extreme condition for setting the global predefined identification pattern is that the global identification pattern is set on the whole field, and the ground laying amount is large under the condition, but the global path free planning can be realized, and the random path planning can be realized; in actual use, if the existing two-dimensional code is only replaced for positioning, the identifier can be set according to the path or even at the required node position part; the continuous arrangement of the marker diagrams can ensure that the invention realizes continuous and uninterrupted positioning, and can get rid of the dependence of an inertial gyroscope, and the marker image read each time represents an area coordinate and a deflection angle in the whole domain, so that continuous correction can be realized, which is different from other positioning modes.
Embodiment 4, the arrangement positions and the display forms of the marker charts are optimized as required on the basis of the descriptions of the embodiments 1, 2 and 3. Besides the marker drawings are arranged on the ground, the marker drawings can also be arranged on the top surface, the side surface or mixed arrangement, and the camera device is adjusted and added correspondingly. The marker drawings can be laid out by adopting a display screen, a projection display and the like instead of being made in a printing mode and a printing mode.
Embodiment 5, the system realizes continuous location area location, and can satisfy daily more common discontinuous location andor location point location with low functional requirements, in these application occasions, the global predefined tag map expands the possibility of the tag map, and the tag map and the area can be defined as one-to-one association or many-to-one association, so that the located video identification and information system retrieval information can be flexible and diverse, for example, a person needing location can obtain the same location by shooting different advertisement maps at the same location with the predefined tag through identification.
The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that are not thought of through the inventive work should be included in the scope of the present invention.
Claims (7)
1. A continuous area positioning system and method based on global identification map and visual image identification is characterized in that: the system comprises an area to be positioned, coordinates, an identification map, a database, image acquisition and visual image identification and an information system, wherein the coordinates and the identifiable identification map are defined for the area to be positioned, the coordinates and the identification map form association, the associated data is stored in an identification coordinate database, the visual image identification is carried out on the local image of the identification map acquired by the positioning area, the information system outputs the coordinates of the positioning area by inquiring the identification coordinate database, the image is continuously acquired for identification, and the continuous position area positioning is realized according to the identification result.
2. The area to be located according to claim 1, which may be but not limited to a wide area or a local area, may be but not limited to open or closed, may be but not limited to both of the above states, and the identifier map and the area may be but not limited to one-to-one or many-to-one relationship, that is, the same area may define a unique identifier map or may define a plurality of identifier maps, and any identifier map locally locates an area.
3. The coordinates of claim 1, defined by the positioning system and method, may be, but are not limited to, two-dimensional, three-dimensional positioning coordinates and or information related to the positioning.
4. the identification chart according to claim 1, defined by the positioning system and method, can be but is not limited to using the pixel to form the self-defined recognizable figure, symbol, identifier, two-dimensional code or picture, drawing, image as the basic element of the identification chart, the basic element of the identification chart can be but is not limited to using different attributes such as size, color, rotation angle, etc. as the basic element of the new identification chart, the basic element of the identification chart is arranged and combined to form the identifiable identification chart of the whole domain, the arrangement and combination mode of the basic element of the identification chart can be but is not limited to gridding to form the basic element matrix or combination, and also can be but is not limited to distributing the identification chart at will, the basic element, basic element matrix or combination of the identification chart can be but is not limited to forming a one-to-one relationship with the coordinate of, The side surface or mixed arrangement, the part image of the whole image is recognized by the visual image, and the position area in the whole area is known, and the identification coordinate precision is related to the identification image precision and the visual image recognition precision.
5. The identification coordinate database of claim 1, wherein the database stores coordinate and identification map association data.
6. The image capturing device of claim 1, wherein the image capturing device is configured to capture a local image of the marker map by an image capturing technique, and the image capturing device is located relative to the captured image, and the captured image reflects the position of the object to be located.
7. The visual image identification and information system according to claim 1, wherein the identification and information query operation of the collected local images of the marker map can be realized by, but not limited to, visual image identification and information technology to give the area coordinates and state of the object to be located.
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| CN111028299A (en) * | 2020-02-18 | 2020-04-17 | 吴怡锦 | System and method for calculating spatial distance of calibration points based on point attribute data set in image |
| CN113128243A (en) * | 2019-12-31 | 2021-07-16 | 苏州协尔智能光电有限公司 | Optical recognition system, optical recognition method and electronic equipment |
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