CN110610521B - Positioning system and method adopting distance measurement mark and image recognition matching - Google Patents
Positioning system and method adopting distance measurement mark and image recognition matching Download PDFInfo
- Publication number
- CN110610521B CN110610521B CN201910950316.XA CN201910950316A CN110610521B CN 110610521 B CN110610521 B CN 110610521B CN 201910950316 A CN201910950316 A CN 201910950316A CN 110610521 B CN110610521 B CN 110610521B
- Authority
- CN
- China
- Prior art keywords
- user
- mark
- information
- area
- distance measuring
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000005259 measurement Methods 0.000 title claims abstract description 17
- 238000000034 method Methods 0.000 title claims abstract description 17
- 238000010295 mobile communication Methods 0.000 claims abstract description 23
- 238000012937 correction Methods 0.000 claims description 9
- 230000008676 import Effects 0.000 claims description 3
- 230000003993 interaction Effects 0.000 claims description 3
- 230000008569 process Effects 0.000 claims description 3
- 230000004807 localization Effects 0.000 claims 4
- 238000010586 diagram Methods 0.000 abstract description 6
- 238000013461 design Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 4
- 238000012986 modification Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T15/00—3D [Three Dimensional] image rendering
-
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10004—Still image; Photographic image
- G06T2207/10012—Stereo images
Abstract
The invention discloses a positioning system and a method adopting distance measuring marks and image identification matching, wherein the positioning system comprises distance measuring marks, an image input device, user side software, a regional three-dimensional description map, a mobile communication network and a position service system; the distance measuring mark is combined with the existing standard traffic mark and arranged in a system working area; the image recording device is a video camera or a camera; the information acquired by the image input device is transmitted to user side software, the user side software acquires an area three-dimensional description diagram from a position service system through a mobile communication network by identifying and searching the information transmitted by the image input device, and a distance measurement and positioning algorithm is operated according to the acquired area three-dimensional description diagram to calculate the position of the user in the area in real time. The problem that the existing navigation system cannot be used for positioning in the scene lacking positioning satellites is solved.
Description
Technical Field
The invention relates to an indoor positioning navigation system and method, in particular to a positioning system and method adopting distance measuring marks and image identification matching.
Background
Currently, the most effective positioning and navigation methods are global positioning systems, such as GPS in the united states, beidou in china, GLONASS in russia, Galileo in the european union. However, the global satellite positioning system can only solve the application scenario that users such as people, vehicles, and objects can see at least 4 positioning satellites on the sky in open areas of the home/field, and thus cannot meet the application requirements in indoor, underground, tunnel, and "urban canyon (roads between high-rise buildings, roads under viaducts, roads under overpasses, etc.)" scenarios.
Although the existing navigation system is equipped with an inertial navigation device, it is not easy to face the urban basement or the urban canyon.
Disclosure of Invention
The invention aims to provide a positioning system and a positioning method adopting distance measuring marks and image identification matching, which are used for solving the problem that the conventional navigation system cannot position under the scene lacking positioning satellites.
In order to solve the technical problems, the invention adopts the following technical scheme:
a positioning system adopting distance measuring marks and image identification matching comprises the distance measuring marks, an image input device, user side software, a regional three-dimensional description chart, a mobile communication network and a position service system;
the distance measuring mark is combined with the existing standard traffic mark and is arranged in a system working area;
the image recording device is a video camera or a camera;
the information acquired by the image input device is transmitted to user side software, the user side software acquires an area three-dimensional description diagram from a position service system through a mobile communication network by identifying and searching the information transmitted by the image input device, and a distance measurement and positioning algorithm is operated according to the acquired area three-dimensional description diagram to calculate the position of the user in the area in real time.
Preferably, the ranging flag includes the following three pieces of information:
the first piece of information: the basic situation information of the setting position of the ranging mark is described and comprises a street, a building name, an entrance/door number, a serial number and a floor number; informing a user of which street, which building, which import and which gate number are located, and providing support information for subsequent navigation;
and second section information: the distance measurement information comprises graphs which can be identified at different distances, the distance from the user to the position mark point is confirmed in real time through the graph identification, and the user side software displays the position of the user with sub-meter precision in real time so as to provide support information for subsequent navigation; the ranging information of the ranging mark is combined with a special ranging mark line to realize the correction of the measured distance, and correction parameters are loaded in user-side software and used for correcting the ranging precision;
and a third section of information: the position relation information of the distance measuring mark and the front and back special distance measuring mark lines, the accurate distance from the front and back nearest distance measuring mark lines, and the related information and distance of the special distance measuring mark before and after the special distance measuring mark are informed to the user software.
Preferably, the standard traffic signs include lane divisions of a road traffic sign line, a dashed solid line, a stop line, a parking space line, and a sidewalk cross line.
Preferably, the special distance measuring mark line is drawn on the ground and has a known distance from the special distance measuring mark.
Preferably, the distance measuring mark is arranged at a characteristic point position in an area, and the characteristic point includes a doorway, an intersection, a turning point, a floor dividing position and a characteristic upright post.
Preferably, the image input device can be held by a user, mounted on an automobile or mounted on a mobile vehicle.
Preferably, the three-dimensional description map of the area is a three-dimensional map of the area.
Preferably, the location service system is a backend server, and performs data interaction with the user side software through a mobile communication network.
A positioning method adopting distance measurement marks and image recognition matching comprises the following steps:
step 1: arranging a ranging mark and a ranging mark line in the area;
step 2: using a ranging mark and a ranging mark line arranged in a shooting area of an image input device;
step 3: the user software identifies the area shot by the image input device and sends the position of the area to the position service system through the mobile communication network;
step 4: the location service system sends the three-dimensional description map of the specific area to the user software according to the location of the user;
step 5: the client software displays the three-dimensional description map of the area and the position of the client software in the three-dimensional description map;
step 6: the user determines the end position on the regional three-dimensional description graph and transmits the end position to the position service system through mobile communication;
step 7: the position service system plans a navigation path of an area according to the current position of a user and a specified end position, transmits related information to user side software through a mobile communication network, and displays the related information at a user side;
step 8: the user software moves to a destination position according to the path planned by the position service system; in the process, the image recording device continuously shoots the distance measuring marks and the traffic marks on the passing route, and continuously carries out positioning, navigation and correction until the user reaches the specified terminal position;
step 9: when the user moves to the end position, the positioning and navigation service in the area is ended;
step 10: when the user leaves the terminal position and enters the open air area, the position service system sends an instruction, the user terminal software is controlled through the mobile communication network to clear the three-dimensional description map of the area, and the mobile phone screen displays the commercial navigation map of the market.
Preferably, in Step8, the user software combines the distance measurement mark, the image information of the road, and the three-dimensional description map of the area, and uses the calculated distance information of the distance measurement mark and the orientation information of the distance measurement mark obtained by the image recognition algorithm to complete the positioning.
The invention has the following advantages:
after the design of the invention is adopted, the distance measuring mark after special design is used, the standard traffic mark is combined, the image recording device is used for shooting the distance measuring mark, the image recognition is carried out by utilizing the shot distance measuring mark to realize positioning, the image recognition and matching positioning are carried out on the distance measuring mark scene shot by the image recording device, the positioning precision reaches or is superior to the sub-meter level, the difficult problems of parking position, lane level navigation and door level navigation of the application scenes of indoor and outdoor, overground and underground, tunnels and urban canyons are solved, and the application problem of navigation seamless connection of the application scenes of indoor and outdoor, overground and underground, tunnels and urban canyons is solved. The practicability and the reliability of the navigation software are improved.
Drawings
FIG. 1 is a flowchart illustrating the operation of a positioning system and method using distance measuring marks and image recognition matching according to the present invention.
Detailed Description
The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure.
It should be understood that the structures, ratios, sizes, and the like shown in the drawings and described in the specification are only used for matching with the disclosure of the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions under which the present invention can be implemented, so that the present invention has no technical significance, and any structural modification, ratio relationship change, or size adjustment should still fall within the scope of the present invention without affecting the efficacy and the achievable purpose of the present invention. In addition, the terms such as "upper", "lower", "left", "right" and "middle" used in the present specification are for clarity of description, and are not intended to limit the scope of the present invention, and changes or modifications of the relative relationship may be made without substantial changes in the technical contents.
Example 1
A positioning system adopting distance measuring marks and image identification matching comprises the distance measuring marks, an image input device, user side software, a regional three-dimensional description chart, a mobile communication network and a position service system;
the distance measuring mark is combined with the existing standard traffic mark and is arranged in a system working area;
the image recording device is a video camera or a camera;
the information acquired by the image input device is transmitted to user side software, the user side software acquires an area three-dimensional description diagram from a position service system through a mobile communication network by identifying and searching the information transmitted by the image input device, and a distance measurement and positioning algorithm is operated according to the acquired area three-dimensional description diagram to calculate the position of the user in the area in real time.
In specific implementation, the ranging mark includes the following three pieces of information:
the first piece of information: the basic situation information of the setting position of the ranging mark is described and comprises a street, a building name, an entrance/door number, a serial number and a floor number; informing a user of which street, which building, which import and which gate number are located, and providing support information for subsequent navigation;
and second section information: the distance measurement information comprises graphs which can be identified at different distances, the distance from the user to the position mark point is confirmed in real time through the graph identification, and the user side software displays the position of the user with sub-meter precision in real time so as to provide support information for subsequent navigation; the ranging information of the ranging mark is combined with a special ranging mark line to realize the correction of the measured distance, and correction parameters are loaded in user-side software and used for correcting the ranging precision;
and a third section of information: the position relation information of the distance measuring mark and the front and back special distance measuring mark lines, the accurate distance from the front and back nearest distance measuring mark lines, and the related information and distance of the special distance measuring mark before and after the special distance measuring mark are informed to the user software.
In specific implementation, the standard traffic sign includes a lane division dashed solid line of a road traffic sign line, a stop line, a parking position line and a sidewalk transverse line.
In specific implementation, the special distance measuring mark line is drawn on the ground and has a known distance with the special distance measuring mark.
In specific implementation, the ranging mark is arranged at a characteristic point position in an area, and the characteristic point comprises a doorway, an intersection, a turning point, a floor dividing position and a characteristic upright post.
In an implementation, the image input device can be held by a user, installed on an automobile or installed on a mobile carrier.
In specific implementation, the regional three-dimensional description map is a regional three-dimensional map.
In specific implementation, the location service system is a backend server and performs data interaction with the user side software through a mobile communication network.
Referring to fig. 1, a positioning method using a ranging mark and image recognition matching, the positioning method comprising the steps of:
step 1: arranging a ranging mark and a ranging mark line in the area;
step 2: using a ranging mark and a ranging mark line arranged in a shooting area of an image input device;
step 3: the user software identifies the area shot by the image input device and sends the position of the area to the position service system through the mobile communication network;
step 4: the location service system sends the three-dimensional description map of the specific area to the user software according to the location of the user;
step 5: the client software displays the three-dimensional description map of the area and the position of the client software in the three-dimensional description map;
step 6: the user determines the end position on the regional three-dimensional description graph and transmits the end position to the position service system through mobile communication;
step 7: the position service system plans a navigation path of an area according to the current position of a user and a specified end position, transmits related information to user side software through a mobile communication network, and displays the related information at a user side;
step 8: the user software moves to a destination position according to the path planned by the position service system; in the process, the image recording device continuously shoots the distance measuring marks and the traffic marks on the passing route, and continuously carries out positioning, navigation and correction until the user reaches the specified terminal position;
step 9: when the user moves to the end position, the positioning and navigation service in the area is ended;
step 10: when the user leaves the terminal position and enters the open air area, the position service system sends an instruction, the user terminal software is controlled through the mobile communication network to clear the three-dimensional description map of the area, and the mobile phone screen displays the commercial navigation map of the market.
In specific implementation, in Step8, the user software combines the distance measurement mark, the image information of the road, and the three-dimensional description map of the area, and uses the calculated distance information of the distance measurement mark and the orientation information of the distance measurement mark obtained by the image recognition algorithm to complete positioning.
The invention has the following advantages:
after the design of the invention is adopted, the distance measuring mark after special design is used, the standard traffic mark is combined, the image recording device is used for shooting the distance measuring mark, the image recognition is carried out by utilizing the shot distance measuring mark to realize positioning, the image recognition and matching positioning are carried out on the distance measuring mark scene shot by the image recording device, the positioning precision reaches or is superior to the sub-meter level, the difficult problems of parking position, lane level navigation and door level navigation of the application scenes of indoor and outdoor, overground and underground, tunnels and urban canyons are solved, and the application problem of navigation seamless connection of the application scenes of indoor and outdoor, overground and underground, tunnels and urban canyons is solved. The practicability and the reliability of the navigation software are improved.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (7)
1. A positioning system adopting distance measuring marks and image recognition matching is characterized in that: the system comprises a ranging mark, an image input device, user side software, a regional three-dimensional description chart, a mobile communication network and a position service system;
the distance measuring mark is combined with the existing standard traffic mark and is arranged in a system working area;
the image recording device is a video camera or a camera;
the information acquired by the image input device is transmitted to user side software, the user side software acquires a regional three-dimensional description map from a position service system through a mobile communication network by identifying and searching the information transmitted by the image input device, and operates a distance measurement and positioning algorithm according to the acquired regional three-dimensional description map to calculate the position of a user in the region in real time;
the ranging mark comprises the following three pieces of information:
the first piece of information: the basic situation information of the setting position of the ranging mark is described and comprises a street, a building name, an entrance, a door number, a serial number and a floor number; informing a user of which street, which building, which import and which gate number are located, and providing support information for subsequent navigation;
and second section information: the distance measurement information comprises graphs which can be identified at different distances, the distance from the user to the position mark point is confirmed in real time through the graph identification, and the user side software displays the position of the user with sub-meter precision in real time so as to provide support information for subsequent navigation; the ranging information of the ranging mark is combined with a special ranging mark line to realize the correction of the measured distance, and correction parameters are loaded in user-side software and used for correcting the ranging precision;
and a third section of information: the position relation information of the distance measuring mark and the front and back special distance measuring mark lines, the accurate distance from the front and back nearest distance measuring mark lines, and the related information and distance of the special distance measuring mark before and after the special distance measuring mark are informed to the user software.
2. A localization system using range finding markers matched to image recognition as claimed in claim 1, wherein: the distance measuring marks are arranged at the positions of characteristic points in the area, and the characteristic points comprise doorways, intersections, turning points, floor dividing positions and characteristic columns.
3. A localization system using range finding markers matched to image recognition as claimed in claim 1, wherein: the image entry device may be hand-held by a user, mounted on an automobile, or mounted on a mobile vehicle.
4. A localization system using range finding markers matched to image recognition as claimed in claim 1, wherein: the regional three-dimensional description map is a regional three-dimensional map.
5. A localization system using range finding markers matched to image recognition as claimed in claim 1, wherein: the position service system is a back-end server and performs data interaction with user side software through a mobile communication network.
6. A positioning method adopting distance measurement marks and image identification matching is characterized in that: the positioning method comprises the following steps:
step 1: arranging a ranging mark and a ranging mark line in the area;
step 2: using a ranging mark and a ranging mark line arranged in a shooting area of an image input device;
step 3: the user software identifies the area shot by the image input device and sends the position of the area to the position service system through the mobile communication network;
step 4: the location service system sends the three-dimensional description map of the specific area to the user software according to the location of the user;
step 5: the client software displays the three-dimensional description map of the area and the position of the client software in the three-dimensional description map;
step 6: the user determines the end position on the regional three-dimensional description graph and transmits the end position to the position service system through mobile communication;
step 7: the position service system plans a navigation path of an area according to the current position of a user and a specified end position, transmits related information to user side software through a mobile communication network, and displays the related information at a user side;
step 8: the user software moves to a destination position according to the path planned by the position service system; in the process, the image recording device continuously shoots the distance measuring marks and the traffic marks on the passing route, and continuously carries out positioning, navigation and correction until the user reaches the specified terminal position;
step 9: when the user moves to the end position, the positioning and navigation service in the area is ended;
step 10: when the user leaves the terminal position and enters the open air area, the position service system sends an instruction, the user terminal software is controlled through the mobile communication network to clear the three-dimensional description map of the area, and the mobile phone screen displays the commercial navigation map of the market.
7. The method of claim 6, wherein the matching of the ranging mark and the image recognition is performed by: and the client software in Step8 combines the distance measuring mark, the image information of the road and the regional three-dimensional description map, and completes positioning by using the calculated distance information of the distance measuring mark and the azimuth information of the distance measuring mark obtained by the image recognition algorithm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910950316.XA CN110610521B (en) | 2019-10-08 | 2019-10-08 | Positioning system and method adopting distance measurement mark and image recognition matching |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910950316.XA CN110610521B (en) | 2019-10-08 | 2019-10-08 | Positioning system and method adopting distance measurement mark and image recognition matching |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110610521A CN110610521A (en) | 2019-12-24 |
| CN110610521B true CN110610521B (en) | 2021-02-26 |
Family
ID=68894104
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910950316.XA Active CN110610521B (en) | 2019-10-08 | 2019-10-08 | Positioning system and method adopting distance measurement mark and image recognition matching |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110610521B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113362629B (en) * | 2021-07-21 | 2024-02-27 | 张铂虎 | Regional positioning navigation system based on traffic sign information line and working method thereof |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9396397B2 (en) * | 2014-10-21 | 2016-07-19 | Motorola Solutions, Inc. | Methods and systems for object-recognition and link integration in a composite video stream |
| CN106441319A (en) * | 2016-09-23 | 2017-02-22 | 中国科学院合肥物质科学研究院 | System and method for generating lane-level navigation map of unmanned vehicle |
| CN109099842A (en) * | 2018-09-17 | 2018-12-28 | 昆明简酷科技有限公司 | Indoor positioning and trace tracking system based on optical gate matrix technology |
| CN109146958A (en) * | 2018-08-15 | 2019-01-04 | 北京领骏科技有限公司 | A kind of traffic sign method for measuring spatial location based on two dimensional image |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8838481B2 (en) * | 2011-07-26 | 2014-09-16 | Golba Llc | Method and system for location based hands-free payment |
| CN102829775A (en) * | 2012-08-29 | 2012-12-19 | 成都理想境界科技有限公司 | Indoor navigation method, systems and equipment |
| CN105841687B (en) * | 2015-01-14 | 2019-12-06 | 上海智乘网络科技有限公司 | indoor positioning method and system |
| CN106604236A (en) * | 2016-12-20 | 2017-04-26 | 安徽工程大学 | Indoor positioning system |
| CN109520510A (en) * | 2018-12-26 | 2019-03-26 | 安徽智恒信科技有限公司 | A kind of indoor navigation method and system based on virtual reality technology |
| CN109855628A (en) * | 2019-03-05 | 2019-06-07 | 异起(上海)智能科技有限公司 | Positioning, air navigation aid and device between a kind of indoor or building and computer-readable write medium and electronic equipment |
| CN109737971B (en) * | 2019-03-18 | 2020-12-04 | 爱驰汽车有限公司 | Vehicle-mounted auxiliary navigation positioning system, method, equipment and storage medium |
| CN110084850B (en) * | 2019-04-04 | 2023-05-23 | 东南大学 | Dynamic scene visual positioning method based on image semantic segmentation |
-
2019
- 2019-10-08 CN CN201910950316.XA patent/CN110610521B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9396397B2 (en) * | 2014-10-21 | 2016-07-19 | Motorola Solutions, Inc. | Methods and systems for object-recognition and link integration in a composite video stream |
| CN106441319A (en) * | 2016-09-23 | 2017-02-22 | 中国科学院合肥物质科学研究院 | System and method for generating lane-level navigation map of unmanned vehicle |
| CN109146958A (en) * | 2018-08-15 | 2019-01-04 | 北京领骏科技有限公司 | A kind of traffic sign method for measuring spatial location based on two dimensional image |
| CN109099842A (en) * | 2018-09-17 | 2018-12-28 | 昆明简酷科技有限公司 | Indoor positioning and trace tracking system based on optical gate matrix technology |
Non-Patent Citations (2)
| Title |
|---|
| An Alternative Positioning Navigation and Timing Concept based on Diverse Ranging;Ryan H. Wu.et.;《2014 IEEE/ION Position,Location and Navigation Symposium-PLANS 2014》;20141231;第886-914页 * |
| 面向景区智能导游的室内外一体化定位及位置服务方法研究;余明朗;《中国博士学位论文全文数据库 基础科学辑》;20141115(第11期);第A008-7页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110610521A (en) | 2019-12-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11959771B2 (en) | Creation and use of enhanced maps | |
| CN112639918B (en) | Map system, vehicle-side device, method, and storage medium | |
| US11085774B2 (en) | System and method of matching of road data objects for generating and updating a precision road database | |
| US20190271550A1 (en) | System and Method for Creating, Updating, and Using Maps Generated by Probe Vehicles | |
| US7899583B2 (en) | System and method of detecting and navigating to empty parking spaces | |
| EP2149056B2 (en) | Positioning device, method and program with absolute positioning and relative positioning modes | |
| US20180246907A1 (en) | System and method of a two-step object data processing by a vehicle and a server database for generating, updating and delivering a precision road property database | |
| CN107664500B (en) | garage vehicle positioning and navigation method based on image feature recognition | |
| US20180239032A1 (en) | System and method for precision vehicle positioning | |
| US20180352376A1 (en) | Location fingerprinting | |
| KR101970920B1 (en) | Method for estimating indoor position and method for providing parking path using the same | |
| CN111123334B (en) | Multi-vehicle cooperative positioning platform and positioning method under limit working condition | |
| AU2016219343A1 (en) | Sparse map for autonomous vehicle navigation | |
| CN111693056B (en) | Small map for maintaining and updating self-healing high definition maps | |
| JP2014531024A (en) | How to move data from image database map service into assist system | |
| KR20060132302A (en) | Method and apparatus for compensating for car position in car navigation system | |
| US20210285791A1 (en) | System for marking locations along roads in map and method therefor | |
| CN112485815A (en) | Distributed information generation device and method for positioning difference between accurate positioning information and GNSS positioning information | |
| US20220042804A1 (en) | Localization device for visually determining the location of a vehicle | |
| JP2018109815A (en) | Travel support device, travel support method, and program for allowing computer to function as travel support device | |
| Al‐Bayari et al. | New centralized automatic vehicle location communications software system under GIS environment | |
| CN110610521B (en) | Positioning system and method adopting distance measurement mark and image recognition matching | |
| KR20230104812A (en) | Method and application for mart indoor navigation based on location marker | |
| JP2022530347A (en) | A method for guiding traffic participants, performed by a computer | |
| US20200292329A1 (en) | Maplets for maintaining and updating a self-healing high definition map |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20240221 Address after: 101100, 1st Floor, Building 60, No. 17 Huanke Middle Road, Jinqiao Science and Technology Industrial Base, Tongzhou Garden, Tongzhou District, Beijing Patentee after: Eurasing Technology Development Corp. Country or region after: China Address before: 101102 Room 101, 3rd floor, building 22, courtyard 17, Jingsheng South 4th Street, Tongzhou District, Beijing Patentee before: Yunhai Bridge (Beijing) Technology Co.,Ltd. Country or region before: China |
|
| TR01 | Transfer of patent right |