CN111159455A - Method for judging position and positioning system - Google Patents
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- CN111159455A CN111159455A CN201811324572.XA CN201811324572A CN111159455A CN 111159455 A CN111159455 A CN 111159455A CN 201811324572 A CN201811324572 A CN 201811324572A CN 111159455 A CN111159455 A CN 111159455A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/50—Information retrieval; Database structures therefor; File system structures therefor of still image data
- G06F16/58—Retrieval characterised by using metadata, e.g. metadata not derived from the content or metadata generated manually
- G06F16/583—Retrieval characterised by using metadata, e.g. metadata not derived from the content or metadata generated manually using metadata automatically derived from the content
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
- G01C11/06—Interpretation of pictures by comparison of two or more pictures of the same area
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/50—Information retrieval; Database structures therefor; File system structures therefor of still image data
- G06F16/58—Retrieval characterised by using metadata, e.g. metadata not derived from the content or metadata generated manually
- G06F16/587—Retrieval characterised by using metadata, e.g. metadata not derived from the content or metadata generated manually using geographical or spatial information, e.g. location
Abstract
The invention discloses a method for judging position and a positioning system, wherein the method for judging position comprises the steps of providing a map library; and acquiring a target image, and querying the map library by using the target image to judge a target coordinate relative to the target image.
Description
Technical Field
The present invention relates to a method for determining a location and a positioning system, and more particularly, to a method for determining a location of a user by capturing an image and searching a map database.
Background
The existing positioning systems can be divided into two types, one is positioning by Global Positioning System (GPS), and the other is positioning by Light Detection and Ranging (Lidar).
The global positioning system needs operating time to obtain enough satellite signals for positioning to obtain world coordinates, and the processing time for receiving the satellite signals causes poor efficiency of the user positioning system, thereby reducing the use satisfaction. In addition, the global positioning system is more susceptible to positioning errors caused by non-ideal factors when performing real-time positioning. For example, the gps system generates a positioning error due to refraction of the atmosphere, asynchrony of satellite clocks, or multipath effect generated when positioning at a high building. The positioning system through the light radar needs to sense the current terrain and environment through the light radar and then compare the terrain and environment with the terrain environment in the map library. Although the radar can obtain world coordinates with high precision, the radar is expensive to manufacture, and the positioning by the radar causes the cost of the whole positioning system to increase.
Therefore, how to perform fast and high-precision positioning at a reasonable hardware cost has been one of the goals of common efforts in the industry.
Disclosure of Invention
Therefore, the present invention provides a method for determining a position and a positioning system, which can reduce hardware cost and perform high-precision positioning quickly, so as to solve the above-mentioned problems.
The invention discloses a method for judging position, comprising the following steps: providing a map library; obtaining a target image, and querying the map library by using the target image to judge a target coordinate relative to the target image.
The invention also discloses a positioning system, comprising: the map library comprises a plurality of map files, and each map file comprises a sample image and a sample coordinate corresponding to the sample image; a first image capturing device for obtaining a target image; and the image comparison module is used for inquiring the map library by the target image so as to judge a target coordinate relative to the target image.
Drawings
Fig. 1 is a schematic diagram of a positioning system according to an embodiment of the invention.
FIG. 2 is a schematic diagram of a process according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of a map library according to an embodiment of the present invention.
Fig. 4 is a schematic diagram of another positioning system according to another embodiment of the invention.
Fig. 5 is a schematic diagram of another positioning system according to another embodiment of the present invention.
Wherein the reference numerals are as follows:
1. 4, 5 positioning system
10. 40, 50 image capture device
12 image comparison module
14 storage device
20 flow path
200. 202, 204, 206 steps
46 position detecting device
48. 58 processing device
Mp _ b map library
Img _ t, Img _ s1, Img _ s2, and Img _ sn video
Coor _ t, Coor _ s1, Coor _ s2, Coor _ sn coordinates
Mp1, Mp2, Mpn map files
Detailed Description
Referring to fig. 1, fig. 1 is a schematic diagram of a positioning system 1 according to an embodiment of the invention. The user can shoot the image of the current location through the positioning system 1, and query the map library Mp _ b stored in the positioning system 1 through the currently shot image to obtain the world coordinates of the current location. It should be noted that, when the user inquires the location, the positioning system 1 does not need to obtain the world coordinate of the current location through GPS positioning, and can quickly determine the current location by only inquiring the stored map library Mp _ b, so as to achieve the purpose of real-time positioning and effectively improve the user experience.
As shown in fig. 1, the positioning system 1 includes an image capturing apparatus 10, an image comparing module 12 and a storage device 14. The image capture device 10 may provide images for a user to take. The storage device 14 is used for storing a map library Mp _ b. The image comparison module 12 is coupled to the image capturing device 10 and the storage device 14, and is configured to compare the image captured by the user with the image stored in the map library Mp _ b, so as to determine the current location of the user. In detail, the sample images stored in the map library Mp _ b all correspond to a position coordinate, and the user can compare the image Img _ t captured by the image capturing device 10 with the sample images stored in the map library Mp _ b by using the image matching module 12. After the matching sample image is searched and compared in the map library Mp _ b, the corresponding position coordinate of the matching sample image is obtained to determine the current position. It should be noted that the image capturing apparatus 10 may be a camera, a video camera, a driving recorder, etc. as long as the user can obtain the image Img _ t by using the image capturing apparatus 10. In addition, the image capturing apparatus 10 of the present invention is not limited to an electronic device operated alone, and may also be a camera or a video camera integrated on an electronic device, for example, the image capturing apparatus 10 may be a mobile phone or a camera installed on a portable electronic device, which is convenient for a user to carry about and facilitates hardware compatibility of the positioning system 1. The image comparison module 12 is used for performing image recognition according to the image Img _ t, and therefore, the image recognition function may be implemented by a Microprocessor (MCU) or an Application-specific Integrated Circuit (ASIC), or by a Field Programmable Gate Array (FPGA). The Storage Device 14 may be a Read-only Memory (ROM), a Random-access Memory (RAM), a compact disc Read-only Memory (CD-ROM), a magnetic Tape (magnetic Tape), a Floppy Disk (flexible Disk), an Optical Data Storage Device (Optical Data Storage Device), a Non-volatile Memory (Non-volatile Memory) such as an Electrically Erasable Programmable Read-only Memory (EEPROM), a Flash Memory (Flash Memory), or the like, and is not limited thereto.
The operation of the positioning system 1 can be summarized as a process 20, as shown in fig. 2, the process 20 includes the following steps:
step 200: and starting.
Step 202: the image capturing apparatus 10 captures an image Img _ t.
Step 204: the image comparison module 12 queries the map library Mp _ b with the image Img _ t to determine a coordinate Coor _ t corresponding to the image Img _ t.
Step 206: and (6) ending.
In detail, in step 202, the image capturing apparatus 10 first captures an image Img _ t and transmits the image Img _ t to the image matching module 12. In step 204, the image comparison module 12 compares the image Img _ t with the map library Mp _ b to obtain the location of the user, i.e. the coordinate Coor _ t corresponding to the image Img _ t.
Further, please refer to fig. 3, which is a schematic diagram of a map library Mp _ b according to an embodiment of the present invention. As shown in FIG. 3, the map library Mp _ b includes a plurality of map files (map files) Mp 1-Mpn, and each map file includes a sample image and its corresponding sample coordinates. For example, the map file Mp1 includes a sample image Img _ s1 and sample coordinates Coor _ s1 corresponding to the sample image Img _ s 1. The map file Mp2 includes a sample image Img _ s2 and sample coordinates Coor _ s3 corresponding to the sample image Img _ s 2. The map file Mp4 includes a sample image Img _ s4 and sample coordinates Coor _ s4 corresponding to the sample image Img _ s4, and so on. In this way, when the image comparison module 12 executes step 204, the image comparison module 12 firstly analyzes the features of the image Img _ t, compares the sample images Img _ s1 to Img _ sn of the map files Mp1 to Mpn according to the analyzed image features, determines the sample image with the highest feature matching degree from the sample images Img _ s1 to Img _ sn of the map files Mp1 to Mpn as the matched sample image, and selects the sample coordinate corresponding to the sample image with the highest matching degree from the sample coordinates Coor _ s1 to Coor _ sn as the coordinate Coor _ t of the image Img _ t. In other words, the image matching module 12 searches the sample images Img _ s 1-Img _ sn of the map files Mp 1-Mpn in the map library Mp _ b through the image Img _ t, and uses the sample coordinates corresponding to the searched sample images as the generated coordinates code _ t. Preferably, the image comparison module 12 can adjust the comparison condition of the executed image Img _ t to meet the user requirement. For example, the user may set that when the feature matching degree of the image Img _ t exceeds a predetermined standard value, the image comparison module 12 determines the sample image with the highest image feature matching degree as the matched sample image, and outputs the sample coordinate corresponding to the sample image as the coordinate Coor _ t.
In one embodiment, the user can use the positioning system 1 to locate the current position of the vehicle in real time while driving the vehicle. It should be noted that the positioning system 1 searches the sample image corresponding to the image Img _ t in the map library Mp _ b, so that the positioning system 1 can accurately and quickly generate the coordinate Coor _ t to determine the current location of the user without performing online positioning with the positioning system. In short, the positioning system 1 can omit the lengthy positioning time when linking with the positioning system, and can quickly determine the current position by searching the image in the map library Mp _ b, so as to speed up the instruction cycle of the positioning system 1 and improve the user satisfaction.
On the other hand, the map files Mp 1-Mpn of the map file Mp _ b can be preferably classified first, and the map file Mp _ b is classified by applying different classification methods, so that the image comparison module 12 can more quickly obtain the sample image with the highest feature matching degree with the image Img _ t when searching the sample images Img _ s 1-Img _ Sn in the map files Mp 1-Mpn to generate the coordinate Coor _ t. For example, the classification of the map library Mp _ b may be performed by analyzing the sample images Img _ s 1-Img _ sn in advance to determine the image characteristics of each sample image, and accordingly, the sample images with the same or similar image characteristics are classified, so that the image comparison module 12 can effectively increase the processing speed when querying the map library Mp _ b. Alternatively, the classification of the map library Mp _ b may be performed according to the number of times that the sample image is queried or determined as the current location of the user, so as to classify the sample image that is more frequently queried by the user as a high-priority ranking, and classify the sample image that is less determined as the current location of the user as a low-priority ranking, thereby classifying the map library Mp _ b, so that the image comparison module 12 can preferentially search from the sample image with the high ranking. Of course, the map files Mp 1-Mpn of the map library Mp _ b can be classified by different Classification trees (Classification trees) according to different applications and design concepts to speed up the command cycle of the positioning system 1, which also falls into the scope of the present invention.
In short, the user can use the positioning system 1 of the present invention to capture the image Img _ t of the current location, compare the sample images Img _ s 1-Img _ sn in the map library Mp _ b, and use the sample coordinates corresponding to the sample image matching the image Img _ t as the current location of the user, thereby generating the color _ t. Therefore, the positioning system 1 of the present invention can determine the current location of the user in real time by searching the map library Mp _ b, and can determine the current location of the user in real time without using the global positioning system for positioning, thereby accelerating the instruction cycle of the positioning system 1 and improving the user experience.
Please refer to fig. 4, which is a schematic diagram of a positioning system 4 according to an embodiment of the present invention, wherein the positioning system 4 is similar to the positioning system 1, and like components are denoted by like symbols. The positioning system 4 is different from the positioning system 1 in that the positioning system 4 further includes an image capturing device 40, a position detecting device 46 and a processing device 48, wherein the image capturing device 40, the position detecting device 46 and the processing device 48 can be used to generate the map library Mp _ b.
In detail, the image capturing apparatus 40 is similar to the image capturing apparatus 10, and can be used to obtain a sample image. The position detection device 46 is used to obtain the sample coordinates relative to the sample image. The processing device 48 is coupled to the image capturing apparatus 40 and the position detecting device 46, and is used for storing the sample image and the corresponding sample coordinate as a map file, and transmitting the map file to the storage device 14 to construct the map library Mp _ b. The image capturing device 40 can be a camera, a video camera, a driving recorder, etc., or can be integrally disposed on a portable electronic device. The position detecting device 46 may be a Global Positioning System (GPS) or a Real-Time kinematic Positioning System (Real-Time kinematic System), as long as it can accurately determine the world coordinates of the current position, but the invention is not limited thereto.
The position detection device 46 of the present invention can selectively utilize the GPS or the RTPS for positioning according to various applications and design concepts. For example, when the position detecting device 46 of the present invention is a real-time dynamic positioning system, it can be used to perform a more precise positioning operation, so as to avoid a positioning error caused by factors such as refraction influence of the atmosphere, asynchrony of satellite clocks, or multipath effect generated during positioning near a high-rise building, and further improve the precision of the positioning system 4 to a millimeter level, so as to provide a precise sample coordinate.
In addition, when the positioning system 4 of the present invention establishes the map library Mp _ b, the positioning system 4 may obtain the sample image and the sample coordinates through the image capturing device 40 and the position detecting device 46 according to different rules or determination methods. For example, the image capturing device 40 may record images continuously, and the processing device 48 obtains sample images and sample coordinates according to a fixed interval time or a fixed interval position, and stores the map file in the storage device 14. For example, referring to fig. 3 and 4, at a first time, after a sample image Img _ s1 is captured by the image capturing apparatus 40 and a sample coordinate Coor _ s1 is detected by the position detecting device 46, the processing device 48 stores the sample image Img _ s1 and the sample coordinate Coor _ s1 corresponding to the sample image Img _ s1 as the map file Mp 1. At a second time, after a sample image Img _ s2 is captured by the image capturing apparatus 40 and a sample coordinate Coor _ s2 is detected by the position detecting device 46, the processing device 48 stores the sample image Img _ s2 and the sample coordinate Coor _ s2 corresponding to the sample image Img _ s2 as the map file Mp2, and so on.
In short, the positioning system 4 of the present invention can obtain accurate sample coordinates when the map library Mp _ b is built, so that the user can search the map library Mp _ b by taking the image Img _ t to obtain the coordinates Coor _ t of the current location without the need of the positioning system device when the user uses the positioning system 4 to query the current location according to the process 20.
It should be noted that the foregoing embodiments are provided to illustrate the concept of the present invention, and those skilled in the art should be able to make various modifications without departing from the scope of the invention. For example, please refer to fig. 5, which is a schematic diagram of a positioning system 5 according to an embodiment of the present invention. The positioning system 5 is similar to the positioning system 4, and like components are denoted by like reference numerals. It should be noted that the positioning system 5 is provided with only one image capturing device 50. In addition, the positioning system 5 is provided with a processing device 58, which integrates the functions of the image comparison module and the processing device. The image capturing apparatus 50 is coupled to the processing device 58, and is used for capturing an image Img _ t when the user queries the current location to the processing device 58 for image comparison. In addition, the user can also use the image capturing device 50 to capture the sample image to the processing device 58 to generate the map file when setting up the map library Mp _ b. In other words, the positioning system 5 can only be provided with one image capturing device 50, i.e. it has the functions of building the map library Mp _ b and querying the current location, thereby reducing the hardware cost of the positioning system 5.
In a situation where the positioning system 5 is only provided with the image capturing apparatus 50 and the user is using the positioning system 5 to query the current location, the image capturing apparatus 50 may obtain the image Img _ t to the processing device 58, so as to compare the image Img _ t with the map library Mp _ b and determine the current location. On the other hand, since the positioning system 5 can be used to establish the map library Mp _ b, when there is no matching sample image in the map library Mp _ b, the positioning system 5 can activate the position detecting device 46 to obtain the coordinate Coor _ t of the current position of the image Img _ t, and the image Img _ t and the corresponding coordinate Coor _ t are integrated into a map file by the processing device 58 and stored in the storage device 14 to update the map library Mp _ b. Accordingly, the positioning system 5 can quickly and accurately determine the coordinate Coor _ t of the current location when the map library Mp _ b has the matched sample image. When the map library Mp _ b does not search for a matching sample image, the map library Mp _ b of the positioning system 5 is updated by the position detection device 46 and the processing device 58. Therefore, when the user performs positioning through the positioning system 5, the user can accurately determine the current position, and further expand the map library Mp _ b, so that the positioning system 5 is improved.
In the prior art, positioning can be performed only through a global positioning system or a radar, so that hardware cost cannot be effectively reduced, and positioning accuracy cannot be improved under the condition that processing time is increased through the global positioning system for satellite positioning, so that user satisfaction is reduced. Compared with the prior art, the positioning system can judge the current position in real time through the image comparison map library under the condition of not receiving satellite signals for positioning, so that the world coordinate of the current position of a user is quickly and accurately provided under the condition of reducing hardware cost, and the use satisfaction degree of the positioning system is effectively improved.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. A method for determining a location, comprising:
providing a map library; and
obtaining a target image, and querying the map library by using the target image to judge a target coordinate relative to the target image.
2. The method of claim 1, wherein the step of providing the map library comprises:
obtaining a plurality of sample images, and sensing sample coordinates corresponding to each sample image; and
storing the plurality of sample images and the plurality of sample coordinates relative to the plurality of sample images as the map library.
3. The method of claim 1, wherein the step of querying the map library with the target image to determine the target coordinates relative to the target image comprises:
comparing the target image with a plurality of sample images of the map library to judge a sample image which accords with the target image from the plurality of sample images; and
and acquiring a sample coordinate corresponding to the sample image, and judging the sample coordinate as the target coordinate.
4. The method of claim 3, wherein the step of comparing the target image with the plurality of sample images of the map library comprises:
extracting at least one image feature of the target image, and comparing the at least one image feature with the plurality of sample images of the map library to obtain the sample image conforming to the target image.
5. A positioning system, comprising:
the map library comprises a plurality of map files, and each map file comprises a sample image and a sample coordinate corresponding to the sample image;
a first image capturing device for obtaining a target image; and
and the image comparison module is used for inquiring the map library by using the target image so as to judge a target coordinate relative to the target image.
6. The positioning system of claim 5, further comprising: c
A second image capturing device for capturing a sample image;
a position detecting device for detecting a sample coordinate of the sample image captured by the second image capturing device; and
and the processing device is used for storing the sample image and the sample coordinate corresponding to the sample image into a map file and storing the map file into the map library.
7. The positioning system of claim 5, wherein the image matching module matches the target image with a plurality of sample images of the map library to determine a sample image corresponding to the target image from the plurality of sample images, and obtains a sample coordinate corresponding to the sample image and determines the sample coordinate as the target coordinate.
8. The positioning system of claim 7, wherein the image matching module extracts at least one image feature of the target image and matches the at least one image feature with the plurality of sample images of the map library to obtain the sample images corresponding to the target image.
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Cited By (1)
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| CN114518118A (en) * | 2020-11-19 | 2022-05-20 | 财团法人资讯工业策进会 | System and method for generating basic information for positioning and self-positioning judgment device |
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Application publication date: 20200515 |