CN111083633A - Mobile terminal positioning system, establishment method thereof and positioning method of mobile terminal - Google Patents
Mobile terminal positioning system, establishment method thereof and positioning method of mobile terminal Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
- H04W4/027—Services making use of location information using location based information parameters using movement velocity, acceleration information
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
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Abstract
The application discloses a mobile terminal positioning system, an establishing method thereof and a positioning method of a mobile terminal. The method comprises the steps of setting a first geographic coordinate tag on a communication base station in a positioning system, identifying the first geographic coordinate tag in the VIO calculation process to calculate a feature descriptor and a world coordinate system coordinate value of the first geographic coordinate tag, solving a coordinate system transformation matrix based on the first geographic coordinate system coordinate value and the corresponding world coordinate system coordinate value in at least three non-collinear first geographic coordinate tags, updating a key frame data set obtained by VIO calculation into a key frame data set based on the geographic coordinate system coordinate value and uploading the key frame data set to a server, and obtaining an environment understanding result by the server according to the updated key frame data set, so that the establishment of the mobile terminal positioning system is completed. Based on the positioning system, the mobile terminal can quickly determine the position and the posture under the geographic coordinate system and output an environment local point cloud map.
Description
[ technical field ] A method for producing a semiconductor device
The present application relates to the field of mobile terminal positioning technologies, and in particular, to a mobile terminal positioning system, an establishment method thereof, and a mobile terminal positioning method.
[ background of the invention ]
Currently, Global Positioning System (GPS) is widely used, but dynamic Positioning accuracy can only reach about 25 meters, and only the geographical position (x, y, z coordinates of the device) of the terminal device can be determined, and the attitude (orientation of the device) cannot be determined. The positioning principle based on the communication base station is similar to the GPS positioning principle, the accuracy is in the level of hundred meters under the 4G network at present, the future 5G network is more accurate, the estimation can reach the meter level, but the equipment posture cannot be determined.
With the development of Artificial Intelligence (AI) technology, robots, Virtual Reality (VR), Augmented Reality (AR), and Mixed Reality (MR), positioning and mapping (SLAM) algorithms are becoming mature, especially the Visual Inertial Odometer (VIO) technology, which is widely used in AR, VR, and robots, can determine the position of a terminal device relative to the surrounding environment (based on the x, y, and z coordinates of a temporary world coordinate system), can determine the orientation (orientation of the device), can achieve the accuracy level, but can not achieve the accuracy level based on a standard geographic coordinate system (e.g. the west ampere 80 coordinate system, the WGS-84 coordinate system), and can perform a 5-second-left-right-tracking after initialization and initial scanning of the surrounding environment, long-term use is also prone to systematic errors and drift.
In the VIO technology, generally, SLAM calculation is performed on terminal equipment through visual image input of a monocular camera and position sensor input of an inertial measurement unit (IMU for short), so that the position and the posture of the terminal equipment are obtained, and a local point cloud map around the terminal equipment is gradually built.
Fig. 1 is a flow chart of VIO calculation in the prior art.
Referring to fig. 1, by performing feature detection and tracking 103 on the video stream of the camera input 101 and performing IMU pre-integration 104 calculations in conjunction with IMU input 102; judging whether the initialization is carried out 105, if not, carrying out initialization (to obtain stable algorithm parameters and a temporary world coordinate system); if so, then visual-inertial neighboring frame optimization 107 is performed in conjunction with the previously accumulated key frame data set 112, the terminal device position and pose 113 is output, and the environmental local cloud 114 is output. In the process of optimizing the visual inertia adjacent frames 107, judging whether each frame data in the video stream is a key frame 108, if not, discarding the frame data 109; if yes, judging whether the terminal equipment returns to the position where the terminal equipment has appeared before (namely, whether the terminal equipment is closed loop 110 is detected from the visual characteristics), and if not, adding the frame data into a key frame data set 112; if so, performing visual-inertial global optimization 111 and updating the key frame data set 112.
However, the existing VIO technology has the following disadvantages:
1. a long initialization phase is required and a user is required to cooperate, and the user needs about 5 seconds for the mobile terminal device to complete the algorithm initialization.
2. The output terminal device location is based on the coordinates of the temporary world coordinate system and cannot be directly converted with the commonly used geographical coordinates (e.g., the sienna 80 or WGS-84 coordinate system).
3. The output point cloud map can be calculated and obtained only by gradually scanning with a camera of the terminal device, and the point cloud map of the surrounding environment cannot be rapidly obtained.
[ summary of the invention ]
In view of this, embodiments of the present application provide a mobile terminal positioning system, an establishment method thereof, and a positioning method of a mobile terminal, so as to solve technical problems that an existing VIO technology can only calculate a position and a posture of a terminal device based on a temporary world coordinate system, and is not high in positioning accuracy, high in calculation complexity, and the like.
On one hand, the embodiment of the application provides a method for establishing a mobile terminal positioning system, wherein the mobile terminal positioning system comprises a server, a communication base station and a mobile terminal; wherein each communication base station is provided with a first geographical coordinate label; the establishing method comprises the following steps: the mobile terminal acquires a first geographic coordinate label of each communication base station; the first geographic coordinate tag comprises a first identification value and a first geographic coordinate system coordinate value; the mobile terminal acquires video stream data and IMU data of the surrounding environment based on the position of the mobile terminal; the mobile terminal performs VIO calculation according to the video stream data and the IMU data, and if the video stream data is identified to include a first identification value in a first geographic coordinate tag of a communication base station in the VIO calculation process, the communication base station corresponding to the first identification value is used as a key feature point to obtain a key frame data set; solving a coordinate system transformation matrix based on a first geographic coordinate system coordinate value in a first geographic coordinate tag of the communication base station and a corresponding world coordinate system coordinate value; converting the world coordinate system coordinate values of all the key frame data in the key frame data set into geographic coordinate system coordinate values according to the coordinate system transformation matrix so as to obtain an updated key frame data set; and uploading the updated key frame data set to the server through the communication base station, so that the server obtains an environment understanding result based on the updated key frame data set, and the establishment of the mobile terminal positioning system is completed.
In one possible design, if the server stores the key frame data set of the adjacent area of the position of the mobile terminal, the server fuses the updated key frame data set and the key frame data set of the adjacent area to form a fused key frame data set, and obtains an environment understanding result based on the fused key frame data set to complete the establishment of the mobile terminal positioning system.
Based on the above establishment method, an embodiment of the present application further provides a mobile terminal positioning system, including: the system comprises a server, a mobile terminal and a communication base station; the mobile terminal positioning system is established according to the establishing method of the mobile terminal positioning system.
On the other hand, the embodiment of the application provides a method for establishing a mobile terminal positioning system, wherein the mobile terminal positioning system comprises a server, a communication base station, a camera and a mobile terminal; wherein each communication base station is provided with a first geographical coordinate label; the camera is provided with a second geographic coordinate label; the establishing method comprises the following steps: the mobile terminal respectively acquires a first geographical coordinate label of each communication base station and a second geographical coordinate label of each camera; the first geographic coordinate label comprises a first identification value and a first geographic coordinate system coordinate value, and the second geographic coordinate label comprises a second identification value and a second geographic coordinate system coordinate value; the mobile terminal uploads the video stream data and IMU data of the surrounding environment, the first geographic coordinate tag and the second geographic coordinate tag which are obtained based on the position of the mobile terminal to the server; the server receives video input data of the camera; the server performs VIO calculation according to the first geographic coordinate tag, the second geographic coordinate tag, the video stream data, IMU data and the video input data to obtain a key frame data set based on a geographic coordinate system coordinate value; and the server obtains an environment understanding result based on the key frame data set based on the geographic coordinate system coordinate value so as to complete the establishment of the mobile terminal positioning system.
In one possible design, if the server stores the key frame data set of the adjacent area in the adjacent area of the position of the mobile terminal, the server fuses the key frame data set based on the coordinate value of the geographic coordinate system and the key frame data set of the adjacent area to form a fused key frame data set, and obtains an environment understanding result based on the fused key frame data set to complete the establishment of the mobile terminal positioning system.
In one possible design, the cameras include fixed cameras and semi-fixed cameras.
Based on the above establishment method, an embodiment of the present application further provides a mobile terminal positioning system, including: the system comprises a server, a mobile terminal, a camera and a communication base station; the mobile terminal positioning system is established according to the establishing method of the mobile terminal positioning system.
On the other hand, an embodiment of the present application further provides a positioning method for a mobile terminal, which is applied to any one of the positioning systems described above, where the mobile terminal is adapted to independently perform VIO calculation, and the positioning method includes: the mobile terminal acquires rough position information of the position; sending the rough location information to the server through the communication base station; receiving a key frame data set and an environment understanding result sent by the server; wherein the key frame data and the environment understanding result are searched in the key frame data set by the server based on the rough location information; initializing VIO calculations based on the key frame data set; and acquiring video stream data and IMU data of the surrounding environment according to the position, and performing VIO calculation according to the video stream data and the IMU data to obtain accurate position information and posture of the mobile terminal based on a geographic coordinate system.
In one possible design, the positioning method further includes: the mobile terminal updates the key frame data set in the VIO calculation process; and uploading the updated key frame data set to the server through the communication base station, so that the server updates the stored key frame data set.
In one possible design, the obtaining, by the mobile terminal, rough location information of the location includes: and the mobile terminal acquires rough position information of the position through the communication base station or the GPS.
On the other hand, an embodiment of the present application further provides a positioning method for a mobile terminal, which is applied to any one of the positioning systems described above, where the mobile terminal is not suitable for performing VIO calculation independently, and the positioning method includes: the server receives rough position information and video stream data of the position sent by the mobile terminal; the video stream data is obtained by the mobile terminal from the surrounding environment based on the position of the mobile terminal; performing VIO calculation based on the rough position information and the video stream data to obtain accurate position information and posture of the mobile terminal; and sending the accurate position information and the accurate posture to the mobile terminal through the communication base station.
In one possible design, the performing the VIO calculation based on the coarse position information and the video stream data to obtain the precise position information and the posture of the mobile terminal includes: searching all neighboring keyframe data from a set of keyframe data based on the coarse location information; matching the feature points detected from the video stream data with the feature points in the adjacent key frame data; and if the number of the successfully matched feature points reaches a preset number, obtaining the accurate position information and the posture of the mobile terminal.
Compared with the prior art, the technical scheme at least has the following beneficial effects:
according to the method for establishing the mobile terminal positioning system provided by the embodiment of the application, a first geographical coordinate tag is arranged on a communication base station in the positioning system, the mobile terminal can obtain a first identification value and a first geographical coordinate system coordinate value by reading the first geographical coordinate tag, the first geographical coordinate tag is identified in the VIO calculation process to calculate the feature descriptor and the world coordinate system coordinate value of the first geographical coordinate tag, a coordinate system transformation matrix is calculated based on the first geographical coordinate system coordinate value and the corresponding world coordinate system coordinate value in at least three non-collinear first geographical coordinate tags, then the world coordinate system coordinate value of all the key frame data in the key frame data set obtained by the VIO calculation is converted into the geographical coordinate system coordinate value according to the coordinate system transformation matrix to obtain an updated key frame data set (based on the geographical coordinate system coordinate value), and uploading the updated key frame data set to a server, and obtaining an environment understanding result by the server according to the updated key frame data set (or the key frame data set in the fusion adjacent region), thereby completing the establishment of the mobile terminal positioning system. Based on the positioning system, the mobile terminal can quickly determine the position and the posture under the geographic coordinate system and output an environment local point cloud map.
Furthermore, a camera (comprising a fixed camera and a semi-fixed camera) can be added in the mobile terminal positioning system, and a second geographic coordinate label is arranged on the camera. The mobile terminal uploads the acquired ID (namely the second identification value) and the geographic coordinate value (namely the coordinate value of the second geographic coordinate system), and the video stream data and IMU data of the surrounding environment acquired based on the position to the server, and the server also receives the video input data from the camera, so that when the server performs VIO calculation, the mapping quality and the positioning accuracy can be improved by combining the video stream data acquired by the mobile terminal and the video input data of the camera. Moreover, the stability and the image quality of the image in the video input data acquired by the camera are higher than those of the image in the video stream data acquired by the mobile terminal, so that the video input data acquired by the camera is preferentially selected when the key frame data is selected in the VIO calculation process, and the mapping quality and the positioning accuracy can be further improved.
[ description of the drawings ]
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a flow diagram of VIO calculation in the prior art;
fig. 2A is a schematic diagram of a deployment architecture of a mobile terminal positioning system according to an embodiment of the present application;
fig. 2B is a flowchart illustrating an embodiment of a method for establishing a positioning system based on the mobile terminal shown in fig. 2A according to an embodiment of the present application;
fig. 3A is a schematic diagram of another deployment architecture of a mobile terminal positioning system according to an embodiment of the present application;
fig. 3B is a flowchart illustrating an embodiment of a method for establishing a positioning system based on the mobile terminal shown in fig. 3A according to an embodiment of the present application;
fig. 4 is a flowchart illustrating a positioning method of a mobile terminal according to an embodiment of the present application;
fig. 5 is a flowchart illustrating a positioning method of a mobile terminal according to an embodiment of the present application.
[ detailed description ] embodiments
For better understanding of the technical solutions of the present application, the following detailed descriptions of the embodiments of the present application are provided with reference to the accompanying drawings.
It should be understood that the embodiments described are only a few embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Example one
The mobile terminal positioning system provided by the embodiment is a positioning system based on a server, a communication base station and a mobile terminal. For convenience of describing the embodiment of the method for establishing the mobile terminal positioning system, a description is first given of a deployment architecture of the mobile terminal positioning system.
Fig. 2A is a schematic diagram of a deployment architecture of a mobile terminal positioning system according to an embodiment of the present application.
Referring to fig. 2A, the mobile terminal positioning system 2 includes: the mobile terminal 21, a plurality of communication base stations (including communication base stations 221 to 225 as shown in fig. 2A), and a server 23.
Specifically, the mobile terminal 21 is a terminal device adapted to independently perform VIO calculation. The mobile terminal 21 may collect video data and IMU data of the surrounding environment at the location, and perform VIO calculation independently. The communication base station is used for establishing communication with the mobile terminal 21 and assisting the server 23 in positioning the mobile terminal. Each communication base station may be installed at different locations according to different scenarios. For example, in an outdoor scenario, the communication base station may be mounted on a communication pole; for example, in an indoor scenario, the communication base station may be mounted on a wall or ceiling, etc. The server 23 is used for processing background calculation and data storage. In practical applications, the server 23 may be an edge server or a cloud server.
Unlike the prior art, in the present embodiment, each communication base station has a first geographical coordinate tag thereon. For example, the first geographical coordinate tag 2211 is provided on the communication base station 221, the first geographical coordinate tag 2221 is provided on the communication base station 222, the first geographical coordinate tag 2231 is provided on the communication base station 223, the first geographical coordinate tag 2241 is provided on the communication base station 224, and the first geographical coordinate tag 2251 is provided on the communication base station 225. The first geographical coordinate tag may be a two-dimensional code or an identifier of the communication base station itself or an image identifier recognizable by other machines, and the first geographical coordinate tag has an ID (i.e., a first identification value) and a first geographical coordinate system coordinate value of the communication base station corresponding to the ID. The mobile terminal 21 may read the first identification value and the first geographic coordinate system coordinate value from the first geographic coordinate tag by scanning a code.
It should be noted that fig. 2A is only a schematic diagram, and in practical applications, the deployment architecture of the server, the communication base station and the mobile terminal in the mobile terminal positioning system is not limited to that shown in fig. 2A. For example, the number of communication base stations can be increased, or some geographic coordinate tags can be added on buildings or on the ground besides the communication base stations to increase the geographic coordinate calculation accuracy.
Fig. 2B is a flowchart illustrating an embodiment of a method for establishing a mobile terminal positioning system according to an embodiment of the present application. Referring to fig. 2B, the establishing method includes:
and step 206, uploading the updated key frame data set to the server through the communication base station, so that the server obtains an environment understanding result based on the updated key frame data set, thereby completing establishment of the mobile terminal positioning system.
With reference to fig. 2A and fig. 2B in combination, as described in step 201, the mobile terminal acquires a first geographic coordinate tag of each communication base station.
Specifically, the mobile terminal has a camera function and can independently perform VIO calculation, and the first geographic coordinate tag is a two-dimensional code. The mobile terminal can acquire a first identification value and a first geographic coordinate system coordinate value stored in a first geographic coordinate tag by scanning the first geographic coordinate tag.
The mobile terminal obtains video stream data and IMU data of the surrounding environment based on the location, as depicted in step 202.
Specifically, the mobile terminal may capture video of a surrounding environment where the mobile terminal is located by using a camera function to obtain video stream data, where the video stream data includes a plurality of video image frames. During the process of shooting the video of the surrounding environment by the mobile terminal, the posture and/or the position of the mobile terminal may change.
The mobile terminal has an inertial measurement unit for determining different poses of the mobile terminal. The person skilled in the art understands that the inertial measurement unit consists of three single-axis accelerometers and three single-axis gyroscopes, the accelerometers detect acceleration signals of an object in three independent axes of a carrier coordinate system, the gyroscopes detect angular velocity signals of the carrier relative to a navigation coordinate system, and after the signals are processed, the attitude of the mobile terminal can be calculated, so that the IMU data of the mobile terminal can be obtained.
In step 203, the mobile terminal performs a VIO calculation according to the video stream data and the IMU data, and identifies the first geographic coordinate tag in the VIO calculation process to calculate a feature descriptor and a world coordinate system coordinate value of the first geographic coordinate tag, so as to obtain a key frame data set.
Specifically, the mobile terminal is a terminal device having independent VIO calculation, and the VIO calculation may be performed using video stream data photographed by a camera and respective attitudes (i.e., the IMU data) of the mobile terminal during photographing of the video stream data measured by an inertial measurement unit, thereby obtaining a key frame data set. The specific process of obtaining the key frame data set according to the VIO calculation may refer to the existing VIO calculation method, which is not described herein again.
Different from the existing VIO calculation, the mobile terminal identifies the first geographic coordinate tag in each frame of video image frame in the VIO calculation process, and calculates the feature descriptor and the world coordinate system coordinate value of the first geographic coordinate tag. Wherein, the feature descriptor refers to a feature vector or a feature matrix extracted from a video image frame. Matching between video image frames can be performed using the extracted feature vectors or feature matrices. The world coordinate system is an absolute coordinate system, for example, a reference coordinate system Xw-Yw-Zw is called the world coordinate system, and the coordinates of the spatial point P in the world coordinate system are (Xw, Yw, Zw).
As shown in step 204, a coordinate system transformation matrix is solved based on the first geographic coordinate system coordinate values of the at least three non-collinear first geographic coordinate tags and the corresponding world coordinate system coordinate values.
Specifically, the first geographic coordinate system coordinate value of the first geographic coordinate tag may be obtained by geographic coordinate measurement. The geographic coordinate system is a coordinate system which defines the position of the earth surface by using a three-dimensional spherical surface so as to realize the reference of the position of a point on the earth surface by longitude and latitude. The coordinate value of the first geographical coordinate system may represent the position of a point by latitude and longitude. Then, a coordinate system transformation matrix between the world coordinate system coordinate value of the first geographic coordinate tag and the first geographic coordinate system coordinate value determined in step 203 may be determined.
It should be noted that, since the world coordinate system coordinate value includes three variables, for example, the coordinate value of the spatial point P in the world coordinate system is (xw, yw, zw), and the first geographic coordinate system coordinate value includes two variables, for example, the coordinate value of the point P in the geographic coordinate system is (lon, lat), where lon represents longitude and lat represents latitude. If a coordinate system transformation matrix between the world coordinate system coordinate value of the first geographic coordinate tag and the coordinate value of the first geographic coordinate system is to be determined, at least three non-collinear first geographic coordinate tags need to be selected, and because three variable values in the world coordinate system coordinate values of the three non-collinear first geographic coordinate tags are different, the coordinate system transformation matrix between the world coordinate system and the geographic coordinate system can be obtained through calculation.
In step 205, the world coordinate system coordinate values of all the key frame data in the key frame data set are converted into geographic coordinate system coordinate values according to the coordinate system transformation matrix, so as to obtain an updated key frame data set.
Specifically, in the process of performing VIO calculation by the mobile terminal, the obtained key frame data in the key frame data set are all based on coordinate values of a world coordinate system, and the key frame data comprise feature point coordinates, normal vectors, and the position and the posture of the mobile terminal. Then, the world coordinate system coordinate values of each key frame data in the key frame data set can be converted into geographic coordinate system coordinate values according to the coordinate system transformation matrix, so that the updated key frame data set is obtained.
In step 206, the updated keyframe data set is uploaded to the server through the communication base station, so that the server obtains an environment understanding result based on the updated keyframe data set, thereby completing the establishment of the mobile terminal positioning system.
Specifically, the mobile terminal uploads the updated key frame data set to the server through the communication base station. And updating the key frame data according to the geographic coordinate value of the geographic coordinate system, wherein each key frame data in the updated key frame data is based on the geographic coordinate value in the geographic coordinate system. And the server performs plane detection, environment segmentation and other calculations on the environment based on the updated key frame data set, and stores the calculation result in an environment understanding result to complete the establishment of the mobile terminal positioning system.
Further, if the server stores the key frame data set of the adjacent area of the position of the mobile terminal, the server fuses the updated key frame data set and the key frame data set of the adjacent area to form a fused key frame data set, and obtains an environment understanding result based on the fused key frame data set to complete the establishment of the mobile terminal positioning system. Wherein the neighbor region key frame data set is based on the periphery of the position of the mobile terminal (for example, a range with a radius of 15 meters and the position of the mobile terminal as a center of a circle is used as a neighbor region).
It can be seen that the obtained fused key frame data set is a key frame data set with a larger range than the updated key frame data set, so that more accurate positioning can be obtained when the VIO calculation is subsequently performed on other mobile terminals.
Example two
Fig. 3A is a schematic diagram of another deployment architecture of a mobile terminal positioning system according to an embodiment of the present application.
Referring to fig. 3A, the mobile terminal positioning system 3 includes: the mobile terminal 31, a plurality of communication base stations (including communication base stations 321 to 325 as shown in fig. 3A), the server 33, and a camera (including a fixed camera 341 and a semi-fixed camera 342 as shown in fig. 3A).
Specifically, unlike the deployment architecture of the mobile terminal positioning system shown in fig. 2A, in this embodiment, a camera is added, and the camera has a second geographic coordinate tag. For example, as shown in fig. 3A, the fixed camera 341 has a second geographic coordinate label 3411 on the camera, and the semi-fixed camera 342 has a second geographic coordinate label 3421 on the camera.
The stationary camera 341 may be mounted on a wall, ceiling, or communications pole, etc., that is stationary relative to the environment. The position and attitude of the fixed camera are fixed. The semi-stationary camera 342 may also be mounted on a wall, ceiling, or communications pole that is stationary relative to the environment, etc. The semi-stationary camera is fixed in position, but its attitude can undergo mechanical motion (e.g., horizontal rotation or vertical rotation). The fixed camera 341 and the semi-fixed camera 342 may have a communication function, and may be connected to the communication base station and the server 33 by a wireless communication method, or may be connected to the communication base station and the server 33 by a wired method. In addition, in practical application, the fixed camera or the semi-fixed camera and the communication base station can be made into an integral device, and geographic coordinates can be uniformly installed and measured.
In the present embodiment, the mobile terminal 31 is a terminal device adapted to independently perform VIO calculation or not adapted to independently perform VIO calculation. The mobile terminal 31 may collect video data and IMU data of the surroundings at the location. The communication base station is used for establishing communication with the mobile terminal 31 and assisting the server 33 in positioning the mobile terminal. Each communication base station may be installed at different locations according to different scenarios. For example, in an outdoor scenario, the communication base station may be mounted on a communication pole; for example, in an indoor scenario, the communication base station may be mounted on a wall or ceiling, etc. The server 33 is configured to process background calculations and data storage, and the server 33 may perform VIO calculations to obtain a key frame data set based on a geographic coordinate system. In practical applications, the server 33 may be an edge server or a cloud server.
Unlike the prior art, in the present embodiment, each communication base station has a first geographical coordinate tag thereon. For example, there is a first geo-coordinate tag 3211 on the communications base station 321, a first geo-coordinate tag 3221 on the communications base station 322, a first geo-coordinate tag 3231 on the communications base station 323, a first geo-coordinate tag 3241 on the communications base station 324, and a first geo-coordinate tag 3251 on the communications base station 325. The first geographical coordinate tag may be a two-dimensional code or an identifier of the communication base station itself or an image identifier recognizable by other machines, and the first geographical coordinate tag has an ID (i.e., a first identification value) and a first geographical coordinate system coordinate value of the communication base station corresponding to the ID. The mobile terminal 31 may read the first identification value and the first geographic coordinate system coordinate value from the first geographic coordinate tag by scanning a code, and may also read the second identification value and the second geographic coordinate system coordinate value from the second geographic coordinate tag by scanning a code.
It should be noted that fig. 3A is only a schematic diagram, and in practical applications, the deployment architecture of the server, the communication base station, the camera, and the mobile terminal in the mobile terminal positioning system is not limited to that shown in fig. 3A. For example, the number of the communication base stations and the cameras can be increased, or some geographic coordinate tags can be added on buildings or on the ground besides the communication base stations to increase the accuracy of geographic coordinate calculation.
Fig. 3B is a flowchart illustrating an embodiment of a method for establishing a positioning system based on the mobile terminal shown in fig. 3A according to an embodiment of the present disclosure.
Referring to fig. 3B, the establishing method includes:
301, the mobile terminal respectively acquires a first geographic coordinate tag of each communication base station and a second geographic coordinate tag of each camera; the first geographic coordinate label comprises a first identification value and a first geographic coordinate system coordinate value, and the second geographic coordinate label comprises a second identification value and a second geographic coordinate system coordinate value.
and 305, the server obtains an environment understanding result based on the key frame data set based on the geographic coordinate system coordinate value so as to complete the establishment of the mobile terminal positioning system.
With reference to fig. 3A and 3B in combination, as described in step 301, the mobile terminal obtains a first geographic coordinate tag of each communication base station and a second geographic coordinate tag of each camera, respectively.
Specifically, the mobile terminal is a mobile terminal with a camera function, and the first geographic coordinate tag and the second geographic coordinate tag are two-dimensional codes. The mobile terminal can acquire a first identification value and a first geographic coordinate system coordinate value stored in a first geographic coordinate label by scanning the first geographic coordinate label, and can acquire a second identification value and a second geographic coordinate system coordinate value stored in a second geographic coordinate label by scanning the second geographic coordinate label.
In step 302, the mobile terminal uploads the video stream data and the IMU data of the surrounding environment, which are acquired based on the location, and the first geographic coordinate tag and the second geographic coordinate tag to the server.
Specifically, the mobile terminal may capture video of a surrounding environment where the mobile terminal is located by using a camera function to obtain video stream data, where the video stream data includes a plurality of video image frames. During the process of shooting the video of the surrounding environment by the mobile terminal, the posture and/or the position of the mobile terminal may change.
The mobile terminal has an inertial measurement unit for determining different poses of the mobile terminal. The person skilled in the art understands that the inertial measurement unit consists of three single-axis accelerometers and three single-axis gyroscopes, the accelerometers detect acceleration signals of an object in three independent axes of a carrier coordinate system, the gyroscopes detect angular velocity signals of the carrier relative to a navigation coordinate system, and after the signals are processed, the attitude of the mobile terminal can be calculated, so that the IMU data of the mobile terminal can be obtained.
In this embodiment, since the VIO calculation needs to be performed by combining the video input data acquired by the camera and the video stream data acquired by the mobile terminal, since the mobile terminal cannot acquire the video input data captured by the camera, the VIO calculation needs to be performed by the server. Therefore, the mobile terminal uploads the acquired video stream data and IMU data of the surrounding environment to the server.
The server receives video input data for the camera, as depicted in step 303.
Specifically, the server obtains the video input data of the fixed camera and/or the semi-fixed camera through the communication base station, or accesses the video input data of the fixed camera and/or the semi-fixed camera through a wired manner.
In step 304, the server performs VIO calculation according to the first geographic coordinate tag, the second geographic coordinate tag, the video stream data, IMU data, and the video input data to obtain a key frame data set based on geographic coordinate system coordinate values.
Unlike the embodiment shown in fig. 2B, in this embodiment, the server performs VIO calculation, and in the process of performing VIO calculation, by combining video stream data acquired by the mobile terminal and video input data of the cameras (including fixed cameras and semi-fixed cameras), the mapping quality and the positioning accuracy can be improved. Because the first geographic coordinate tag comprises a first geographic coordinate system coordinate value and the second geographic coordinate tag comprises a second geographic coordinate system coordinate value, the server is based on video stream data and IMU data acquired by the mobile terminal, and key frame data in a key frame data set obtained in the process of performing VIO calculation by combining video input data of the camera (comprising a fixed camera and a semi-fixed camera) are key frame data based on the geographic coordinate system coordinate value.
Further, the stability and the image quality of the image in the video input data acquired by the camera are higher than those of the image in the video stream data acquired by the mobile terminal, so that the video input data acquired by the camera is preferentially selected when the key frame data is selected in the VIO calculation process, and the mapping quality and the positioning accuracy can be further improved.
In step 305, the server obtains an environment understanding result based on the key frame data set based on the geographic coordinate system coordinate value, so as to complete the establishment of the mobile terminal positioning system.
Specifically, the server performs plane detection, environment segmentation and other calculations on the environment based on the key frame data set, and stores the calculation results in the environment understanding result, so as to complete the establishment of the mobile terminal positioning system.
Further, if the server stores the key frame data set of the adjacent area of the position of the mobile terminal, the server fuses the key frame data set based on the coordinate value of the geographic coordinate system and the key frame data set of the adjacent area to form a fused key frame data set, and obtains an environment understanding result based on the fused key frame data set to complete the establishment of the mobile terminal positioning system. Wherein the neighbor region key frame data set is based on the periphery of the position of the mobile terminal (for example, a range with a radius of 15 meters and the position of the mobile terminal as a center of a circle is used as a neighbor region).
It can be seen that the obtained fused key frame data set is a key frame data set with a wider range than the key frame data set based on the geographic coordinate system coordinate value, so that more accurate positioning can be obtained when the VIO calculation is subsequently performed on other mobile terminals.
The embodiment of the application also provides a mobile terminal positioning system.
In an embodiment, the deployment architecture of the mobile terminal positioning system is as shown in fig. 2A, and the establishment is completed according to the establishment method shown in fig. 2B, which is specifically referred to the embodiments of fig. 2A and fig. 2B above and will not be described in detail here.
In another embodiment, the deployment architecture of the mobile terminal positioning system is as shown in fig. 3A, and the establishment is completed according to the establishment method shown in fig. 3B, which is specifically referred to the embodiments of fig. 3A and fig. 3B above and will not be described in detail here.
EXAMPLE III
Fig. 4 is a flowchart illustrating a positioning method of a mobile terminal according to an embodiment of the present application. Referring to fig. 4, the establishing method includes:
It should be noted that the positioning method described in this embodiment is applicable to a mobile terminal capable of independently performing VIO calculation, and the positioning method is applied to the mobile terminal positioning system described in the first embodiment or the second embodiment. The execution main body of each step of the positioning method in this embodiment is a mobile terminal.
In this embodiment, as described in step 401, the mobile terminal obtains rough location information of the location where the mobile terminal is located. The mobile terminal obtains the rough location information of the location through the communication base station or a Global Positioning System (GPS for short). The positioning of the mobile terminal by the communication base station utilizes Location Based Services (LBS) of the communication base station, and calculates a coordinate value (i.e., longitude and latitude coordinates) of a geographic coordinate system of the mobile terminal according to a distance between the mobile terminal and the mobile terminal. GPS positioning is a prior art, and the geographic coordinate system coordinate values of the mobile terminal can be determined by using GPS.
However, in both the positioning by the communication base station and the GPS positioning, the determined position of the mobile terminal has a certain error, and thus, rough position information is obtained.
The coarse location information is sent to the server via the communication base station, as depicted in step 402. After receiving the rough position information sent by the mobile terminal, the server searches the key frame data in the preset surrounding range from the stored key frame data set and the environment understanding result obtained based on the key frame data according to the geographic coordinate system coordinate value in the rough position information. The specific value of the preset surrounding range may be preset by the server. And the server sends the searched key frame data and the environment understanding result to the mobile terminal.
As shown in step 403, receiving the key frame data set and the environment understanding result sent by the server; wherein the keyframe data and the environmental understanding result are searched by the server in the keyframe data set based on the coarse location information.
The VIO calculation is initialized based on the key frame data set, as depicted in step 404.
Those skilled in the art will appreciate that initializing the VIO is an estimate of the parameters required for SLAM, including scale, gravity direction, velocity, etc. The mobile terminal may initialize the VIO calculation by using the key frame data set issued by the server, and the specific initialization process may refer to the prior art and is not described herein again.
Because each piece of key frame data in the key frame data set issued by the server is based on the coordinate value of the geographic coordinate system, the mobile terminal can continuously obtain the accurate position information and the posture of the mobile terminal based on the geographic coordinate system in the subsequent VIO calculation process after the initial VIO calculation is carried out by the mobile terminal.
In step 405, video stream data and IMU data of the surrounding environment are obtained according to the location, and VIO calculation is performed according to the video stream data and IMU data to obtain accurate location information and posture of the mobile terminal based on a geographic coordinate system.
Specifically, the mobile terminal is a terminal device having independent VIO calculation, and the VIO calculation may be performed using video stream data photographed by a camera and respective attitudes (i.e., the IMU data) of the mobile terminal during photographing of the video stream data measured by an inertial measurement unit to obtain accurate position information and attitude of the mobile terminal based on a geographical coordinate system. The VIO calculation process may refer to the prior art, and is not described herein again.
Further, the mobile terminal updates the key frame data set in the process of performing the VIO calculation. That is, the mobile terminal updates the key frame data set received from the server according to the key frame data obtained by independently performing the VIO calculation, so as to obtain an updated key frame data set.
If the server needs to acquire the updated key frame data, the mobile terminal may upload the updated key frame data set to the server through the communication base station, so that the server updates the stored key frame data set.
Furthermore, along with the movement of the mobile terminal, the moved rough position information is sent to the server, and the server can download a wider range of key frame data sets to the mobile terminal, so that sufficient key frame data sets around the mobile terminal are continuously ensured.
Example four
Fig. 5 is a flowchart illustrating a positioning method of a mobile terminal according to an embodiment of the present application. Referring to fig. 5, the establishing method includes:
It should be noted that the positioning method described in this embodiment is applicable to a mobile terminal (referred to as a thin mobile terminal) that is not capable of performing VIO calculation independently, such as a simple robot, and the positioning method is applied to the mobile terminal positioning system described in the first embodiment or the second embodiment. The main body for executing each step of the positioning method in this embodiment is a server.
In this embodiment, as described in step 501, the server receives the coarse location information of the location and the video stream data transmitted by the mobile terminal.
Specifically, since the mobile terminal cannot independently perform the VIO calculation, the mobile terminal sends the video stream data obtained by shooting and the rough position information of the obtained position to the server, and the server performs the VIO calculation.
A VIO calculation is performed based on the coarse location information and the video stream data to obtain the precise location information and pose of the mobile terminal, as depicted in step 502.
Specifically, the method comprises the following steps:
step 5021, all adjacent key frame data are searched from the key frame data set based on the rough position information. The adjacent key frame data refers to video image frames adjacent to each video image frame shot by the mobile terminal in terms of time.
Step 5022, matching the feature points detected from the video stream data with the feature points in the adjacent key frame data.
Specifically, after finding all the adjacent key frames in the key frame data set, the server detects feature points from each frame of video image of the video stream data uploaded by the mobile terminal, and matches the feature points with the feature points of the adjacent key frames.
Step 5023, if the number of the successfully matched feature points reaches a preset number, obtaining accurate position information and posture of the mobile terminal.
Specifically, in the matching process according to the above-mentioned step 5022, if a preset number (for example, more than 7) of feature points can be successfully matched, the accurate position information and the attitude of the mobile terminal can be solved, and the focal length of the video image frame during shooting can be calculated. The principle of the solution is as follows: and matching the feature points on the video image frame uploaded by the mobile terminal with the corresponding feature points of the adjacent key frame data successfully, wherein the three points are collinear, 7 parameters to be solved can be solved through 7 or more than 7 collinear equations, and if the 7 pairs of feature points can be successfully matched, the optimal solution can be solved through a least square method.
It should be noted that the positioning methods described in the third embodiment and the fourth embodiment can be applied to the mobile terminal positioning system described in the first embodiment or the second embodiment. Compared with the positioning system described in the first embodiment, in the positioning system described in the second embodiment, since the video input data of the fixed camera and the semi-fixed camera is combined in the key frame data set on the server, and the video input data is more stable and has higher precision than the video stream data shot by the mobile terminal, the data in the key frame data set is updated more timely and has higher precision.
The terminology used in the embodiments of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in the examples of this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be understood that the term "and/or" as used herein is merely one type of association that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination" or "in response to a detection", depending on the context. Similarly, the phrases "if determined" or "if detected (a stated condition or event)" may be interpreted as "when determined" or "in response to a determination" or "when detected (a stated condition or event)" or "in response to a detection (a stated condition or event)", depending on the context.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions in actual implementation, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) or a Processor (Processor) to execute some steps of the methods according to the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the scope of protection of the present application.
Claims (12)
1. The method for establishing the mobile terminal positioning system is characterized in that the mobile terminal positioning system comprises a server, a communication base station and a mobile terminal; wherein each communication base station is provided with a first geographical coordinate label; the establishing method comprises the following steps:
the mobile terminal acquires a first geographic coordinate label of each communication base station; the first geographic coordinate tag comprises a first identification value and a first geographic coordinate system coordinate value;
the mobile terminal acquires video stream data and IMU data of the surrounding environment based on the position of the mobile terminal;
the mobile terminal performs VIO calculation according to the video stream data and the IMU data, and identifies the first geographic coordinate tag in the VIO calculation process so as to calculate a feature descriptor and a world coordinate system coordinate value of the first geographic coordinate tag to obtain a key frame data set;
solving a coordinate system transformation matrix based on coordinate values of a first geographic coordinate system in at least three non-collinear first geographic coordinate tags and coordinate values of a corresponding world coordinate system;
converting the world coordinate system coordinate values of all the key frame data in the key frame data set into geographic coordinate system coordinate values according to the coordinate system transformation matrix so as to obtain an updated key frame data set;
and uploading the updated key frame data set to the server through the communication base station, so that the server obtains an environment understanding result based on the updated key frame data set, and the establishment of the mobile terminal positioning system is completed.
2. The establishing method according to claim 1, wherein if the server stores a key frame data set of an adjacent area where the mobile terminal is located, the server fuses the updated key frame data set and the key frame data set of the adjacent area to form a fused key frame data set, and obtains an environment understanding result based on the fused key frame data set to complete establishing of the mobile terminal positioning system.
3. A mobile terminal positioning system, comprising: the system comprises a server, a mobile terminal and a communication base station; the mobile terminal positioning system is established according to the establishment method of the mobile terminal positioning system of any one of claims 1-2.
4. The method for establishing the mobile terminal positioning system is characterized in that the mobile terminal positioning system comprises a server, a communication base station, a camera and a mobile terminal; wherein each communication base station is provided with a first geographical coordinate label; the camera is provided with a second geographic coordinate label;
the establishing method comprises the following steps:
the mobile terminal respectively acquires a first geographical coordinate label of each communication base station and a second geographical coordinate label of each camera; the first geographic coordinate label comprises a first identification value and a first geographic coordinate system coordinate value, and the second geographic coordinate label comprises a second identification value and a second geographic coordinate system coordinate value;
the mobile terminal uploads the video stream data and IMU data of the surrounding environment, the first geographic coordinate tag and the second geographic coordinate tag which are obtained based on the position of the mobile terminal to the server;
the server receives video input data of the camera;
the server performs VIO calculation according to the first geographic coordinate tag, the second geographic coordinate tag, the video stream data, IMU data and the video input data to obtain a key frame data set based on a geographic coordinate system coordinate value;
and the server obtains an environment understanding result based on the key frame data set based on the geographic coordinate system coordinate value so as to complete the establishment of the mobile terminal positioning system.
5. The method according to claim 4, wherein if the server stores a key frame data set of an adjacent area in the vicinity of the location of the mobile terminal, the server fuses the key frame data set based on the coordinate value of the geographic coordinate system and the key frame data set of the adjacent area to form a fused key frame data set, and obtains an environment understanding result based on the fused key frame data set to complete the establishment of the positioning system of the mobile terminal.
6. The set-up method of claim 4, wherein the cameras comprise fixed cameras and semi-fixed cameras.
7. A mobile terminal positioning system, comprising: the system comprises a server, a communication base station, a camera and a mobile terminal; the mobile terminal positioning system is established according to the establishment method of the mobile terminal positioning system in any one of claims 4-6.
8. A positioning method of a mobile terminal, applied to a positioning system established according to the establishment method of claims 1 to 2 or claims 3 to 5, the mobile terminal being adapted to independently perform VIO calculation, the positioning method comprising:
the mobile terminal acquires rough position information of the position;
sending the rough location information to the server through the communication base station;
receiving a key frame data set and an environment understanding result sent by the server; wherein the key frame data and the environment understanding result are searched in the key frame data set by the server based on the rough location information;
initializing VIO calculations based on the key frame data set;
and acquiring video stream data and IMU data of the surrounding environment according to the position, and performing VIO calculation according to the video stream data and the IMU data to obtain accurate position information and posture of the mobile terminal based on a geographic coordinate system.
9. The positioning method of claim 8, further comprising:
the mobile terminal updates the key frame data set in the VIO calculation process;
and uploading the updated key frame data set to the server through the communication base station, so that the server updates the stored key frame data set.
10. The positioning method according to claim 8, wherein the obtaining of the coarse location information of the location by the mobile terminal comprises:
and the mobile terminal acquires rough position information of the position through the communication base station or the GPS.
11. A positioning method of a mobile terminal applied to a positioning system established according to the establishment method of claim 3 or claim 7, the mobile terminal being not adapted to independently perform VIO calculation, the positioning method comprising:
the server receives rough position information and video stream data of the position sent by the mobile terminal; the video stream data is obtained by the mobile terminal from the surrounding environment based on the position of the mobile terminal;
performing VIO calculation based on the rough position information and the video stream data to obtain accurate position information and posture of the mobile terminal;
and sending the accurate position information and the accurate posture to the mobile terminal through the communication base station.
12. The positioning method according to claim 11, wherein the performing a VIO calculation based on the coarse position information and the video stream data to obtain the precise position information and pose of the mobile terminal comprises:
searching all neighboring keyframe data from a set of keyframe data based on the coarse location information;
matching the feature points detected from the video stream data with the feature points in the adjacent key frame data;
and if the number of the successfully matched feature points reaches a preset number, obtaining the accurate position information and the posture of the mobile terminal.
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