CN111288996A - Indoor navigation method and system based on video live-action navigation technology - Google Patents
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Abstract
本发明提供了一种基于视频实景导航技术的室内导航方法,通过建模获取路径划分节点,通过第一视角视频拍摄获取与之相适配的实地路径节点;在对路径节点视频进行处理及压缩的基础上,对所有路径节点进行两两组合形成视频节点组合对;计算路径节点组合对所对应的最短路径,形成采用路径节点表示的最短路径视频数据即为室内导航视频数据。用户根据路径节点标号或路径节点图片获取所在位置信息作为起点信息,通过用户交互终端选择目的地作为终点信息,进而请求与起点信息和终点信息相适配的最短路径视频数据。本发明同时提供了一种室内导航系统。本发明克服了现有技术中导航精度与成本的冲突问题,实现室内无信源、高精度、低成本的室内导航。
The invention provides an indoor navigation method based on the video real scene navigation technology. The path division nodes are obtained through modeling, and the matching field path nodes are obtained through the first-view video shooting; the path node video is processed and compressed. On the basis of , all path nodes are combined in pairs to form a video node combination pair; the shortest path corresponding to the path node combination pair is calculated to form the shortest path video data represented by the path nodes, which is the indoor navigation video data. The user obtains the location information as the starting point information according to the path node label or path node picture, selects the destination as the ending point information through the user interaction terminal, and then requests the shortest path video data that is adapted to the starting point information and the ending point information. The invention also provides an indoor navigation system. The invention overcomes the conflict of navigation accuracy and cost in the prior art, and realizes indoor navigation with no information source, high precision and low cost.
Description
技术领域technical field
本发明涉及室内导航技术领域,具体地,涉及一种基于视频实景导航技术的室内导航方法及系统。The present invention relates to the technical field of indoor navigation, in particular, to an indoor navigation method and system based on the video real scene navigation technology.
背景技术Background technique
室内导航在现实生活中有着重要的实用价值。目前主要的室内导航技术可以分成如下三类:基于位置感知的室内导航技术、基于信号测量的室内导航技术以及基于传感器的室内导航技术,而能够投入商用的室内导航技术大多采用基于传感器的室内导航技术,商业公司为具体建筑物定制一套基站搭建方案,安装基站,通过导航系统以完成对建筑物内部精确的定位导航。这种方式虽已成熟,但是由于其成本高昂、工程量巨大、维护成本高,目前仅局限使用在大型工厂定位货物或员工上,而针对如商场、商业机构或医院等公共场所,则受限于上述问题而无法普及应用。Indoor navigation has important practical value in real life. At present, the main indoor navigation technologies can be divided into the following three categories: indoor navigation technology based on location perception, indoor navigation technology based on signal measurement, and indoor navigation technology based on sensor, and indoor navigation technology that can be put into commercial use mostly adopts sensor-based indoor navigation technology Technology, commercial companies customize a set of base station construction solutions for specific buildings, install base stations, and complete accurate positioning and navigation inside the building through the navigation system. Although this method is mature, due to its high cost, huge amount of engineering and high maintenance cost, it is currently only used in large factories to locate goods or employees, and is limited in public places such as shopping malls, commercial institutions or hospitals. Due to the above problems, it cannot be widely used.
经过对国内外现有技术的检索、研究发现:After searching and researching existing technologies at home and abroad, it is found that:
室内导航技术往往是基于室内定位技术,可以以信源的类型来划分具体的导航类型,目前研究成果已经有了包括WiFi信号(可参考[2]何韬.基于传感器数据融合的WiFi室内定位算法设计及应用研究[D].浙江大学,2016.)、蓝牙信号、电磁波信号在内的多种信源定位方法,基本思路是预先安装好信号发射装置,通过终端设备的接受与返回实现位置信息的获取。这类定位技术很大程度上取决于新航的抗干扰性与可靠性,并且由于基站(即信号发射装置)必不可少,所以各种定位导航技术的成本压缩尤为困难,可靠的信号意味着较为高端精密的信号发射装置,对于信源装置的供电问题进一步加大了定位系统构建的工程量。Indoor navigation technology is often based on indoor positioning technology, which can be divided into specific navigation types according to the type of source. At present, the research results have included WiFi signals (refer to [2] He Tao. WiFi indoor positioning algorithm based on sensor data fusion) Design and application research [D]. Zhejiang University, 2016.), Bluetooth signal, electromagnetic wave signal, including a variety of source positioning methods, the basic idea is to pre-install the signal transmitter, and realize the location information through the acceptance and return of the terminal equipment acquisition. This type of positioning technology depends to a large extent on the anti-interference and reliability of SIA, and because the base station (ie, the signal transmitter) is essential, it is particularly difficult to compress the cost of various positioning and navigation technologies. The high-end and precise signal transmitting device further increases the engineering workload for the construction of the positioning system for the power supply of the source device.
由苹果公司牵头研发的iBeacon室内导航技术取得成功,并得到了成功的商业运营。iBeacon实质上也是一种基于基站的定位导航技术,iBeacon技术主要基于低功耗蓝牙信号传导技术,在目标建筑物中大量布置iBeacon信号发射器,用户的移动设备可接收并处理相关信号,对用户位置做出计算,最终实现室内的精确制导。因此,iBeacon技术的推广存在以下缺点:首先,布置iBeacon基站具有一定的工程量,基站采用电池供电,后续维护较为麻烦;由于协议开放,iBeacon设备极易被伪造用以窃取用户手机数据,因此,其的安全性也有待商榷。然而,得益于苹果公司的影响与技术支持,还有本身技术上的优势,iBeacon在国外得到一定程度上的适配和应用,至少三十家大型商场与机场采用了iBeacon技术作为室内导航的解决方案(可参考蔚湘绅.基于微芯BM70/1蓝牙模块iBeacon在室内定位系统的应用[J].电子产品世界,2019,26(02):18-19.)。然而,上述技术缺陷依旧限制着iBeacon的发展。The iBeacon indoor navigation technology led by Apple has been successful and has been successfully commercialized. iBeacon is essentially a base station-based positioning and navigation technology. The iBeacon technology is mainly based on the low-power Bluetooth signal conduction technology. A large number of iBeacon signal transmitters are arranged in the target building. The user's mobile device can receive and process related signals. The position is calculated, and the indoor precise guidance is finally realized. Therefore, the promotion of iBeacon technology has the following disadvantages: First, the deployment of iBeacon base stations requires a certain amount of engineering, and the base station is powered by batteries, which makes subsequent maintenance more troublesome; due to the open protocol, iBeacon devices are easily forged to steal user mobile phone data. Therefore, Its safety is also open to question. However, thanks to Apple's influence and technical support, as well as its own technical advantages, iBeacon has been adapted and applied to a certain extent abroad. At least 30 large shopping malls and airports have adopted iBeacon technology as an indoor navigation system. Solution (refer to Wei Xiangshen. Application of iBeacon in indoor positioning system based on Microchip BM70/1 Bluetooth module [J]. World of Electronic Products, 2019, 26(02): 18-19.). However, the above technical defects still limit the development of iBeacon.
目前,随着其它各类室内导航定位技术的发展,多家致力于室内导航方案定制的公司也在不断研发各自的室内导航系统。比较具有代表性的有羲和北斗,主要使用TC-OFDM+BDS(可参考赵旋旋,韩李涛,郑莹,类延辉,吴佳怡.室内导航模型研究综述[J].软件导刊,2016,15(05):1-3.)技术结合,致力于将卫星系统运用到室内定位。然而,该技术主要对标大中型工程,利用卫星导航系统和室外基站制定专门的导航系统,因此,该技术的相应实施成本比较高昂,除了基站的建设,还需购买卫星导航系统的使用权等。At present, with the development of other various indoor navigation and positioning technologies, many companies dedicated to the customization of indoor navigation solutions are also constantly developing their own indoor navigation systems. The more representative ones are Xi and Beidou, which mainly use TC-OFDM+BDS (refer to Zhao Xuanxuan, Han Litao, Zheng Ying, Lei Yanhui, Wu Jiayi. Review of Indoor Navigation Model Research [J]. Software Guide, 2016 , 15 (05): 1-3.) technology combination, dedicated to the application of satellite systems to indoor positioning. However, this technology mainly targets large and medium-sized projects, and uses satellite navigation systems and outdoor base stations to develop special navigation systems. Therefore, the corresponding implementation costs of this technology are relatively high. In addition to the construction of base stations, it is necessary to purchase the right to use the satellite navigation system, etc. .
此外还有千云地图,利用智能手机中的惯性传感器,不依靠外界信源完成导航,该方法很好的解决了精度和成本的问题,适配难度低,但是由于惯性导航本身的特性(可参考刘鹏,任一峰,张亚,吴常铖.惯性导航系统可观测性分析与可观测状态确定的图方法[J/OL].控制理论与应用:1-9[2019-03-27].),随着导航时间的增大,惯性导航的误差会逐渐增大,因此该导航技术主要运用在停车场等场所,在真正意义上的室内很难达到应有的稳定性。In addition, there is Qianyun Map, which uses the inertial sensor in the smartphone to complete the navigation without relying on external sources. This method solves the problem of accuracy and cost very well, and the adaptation difficulty is low, but due to the characteristics of the inertial navigation itself (can be Refer to Liu Peng, Yi Feng, Zhang Ya, Wu Changcheng. Graph method for observability analysis and observable state determination of inertial navigation systems [J/OL]. Control Theory and Application: 1-9[2019-03-27].) , with the increase of navigation time, the error of inertial navigation will gradually increase, so this navigation technology is mainly used in parking lots and other places, and it is difficult to achieve the due stability in the real sense of indoor.
除了以上两家代表企业外,各类依托于UWB、WiFi、LTE、BLE(可参考孙吉武,江凌云.BLE Mesh网络中的机会路由协议优化[J].南京邮电大学学报(自然科学版),2018,38(06):90-95.)以及RFID(可参考肖凯麟.基于超高频RFID混合定位算法的自主移动机器人室内导航[D].华中科技大学,2017.)等技术的商业室内导航技术层出不穷,提供了大量的室内导航解决方案,虽然形成了一条相当成熟的产业,但是受限于成本以及导航精度的问题,目前研发的技术或形成的系统能对标的应用场景仍十分狭窄。In addition to the above two representative companies, various types of companies rely on UWB, WiFi, LTE, BLE (refer to Sun Jiwu, Jiang Lingyun. Optimization of Opportunistic Routing Protocols in BLE Mesh Networks [J]. Journal of Nanjing University of Posts and Telecommunications (Natural Science Edition) , 2018, 38(06): 90-95.) and RFID (refer to Xiao Kailin. Indoor Navigation of Autonomous Mobile Robots Based on UHF RFID Hybrid Localization Algorithm [D]. Huazhong University of Science and Technology, 2017.) and other technology commercial indoor Navigation technologies emerge in an endless stream, providing a large number of indoor navigation solutions. Although a fairly mature industry has been formed, limited by the cost and navigation accuracy, the currently developed technologies or formed systems can be used against targets. The application scenarios are still very narrow.
综上所述,目前各类商业导航技术,基本都是依托现有的典型的室内定位技术,采用不同的定位技术组合实现导航,并运用一定的算法进行修正以提高用户体验,然而并没有从根本上解决室内导航普及化的主要障碍:即导航精度与成本的冲突问题。由于成本和精度无法兼顾的技术难点严重限制了室内导航的应用场景,以至于在室外导航大放异彩、各种大型建筑物拔地而起的今天,依然没有一款成熟的室内导航应用可供使用。如何实现更高的精度与更低的成本,成了室内导航广泛应用的主要障碍。就目前针对室内导航的技术研究来看,研究思路稍显僵化,将定位与导航过于的紧密的绑定,反而限制了导航技术的发展,导航适配成本与导航精度,成为了室内导航技术普及化的重要掣肘,如何解决这一矛盾也成了本领域迫在眉睫的问题。To sum up, at present, various commercial navigation technologies basically rely on the existing typical indoor positioning technology, use a combination of different positioning technologies to achieve navigation, and use certain algorithms to make corrections to improve user experience. Fundamentally solve the main obstacle to the popularization of indoor navigation: the conflict between navigation accuracy and cost. Due to the technical difficulties that the cost and accuracy cannot be taken into account, the application scenarios of indoor navigation have been severely limited, so that today, when outdoor navigation shines brightly and various large buildings are erected, there is still no mature indoor navigation application available. use. How to achieve higher accuracy and lower cost has become the main obstacle to the widespread application of indoor navigation. As far as the current technical research on indoor navigation is concerned, the research idea is slightly rigid, and the too tight binding of positioning and navigation restricts the development of navigation technology. The cost of navigation adaptation and navigation accuracy have become the popularization of indoor navigation technology. How to solve this contradiction has also become an urgent problem in this field.
目前没有发现同本发明类似技术的说明或报道,也尚未收集到国内外类似的资料。At present, there is no description or report of the technology similar to the present invention, and no similar materials at home and abroad have been collected.
发明内容SUMMARY OF THE INVENTION
本发明针对现有技术中存在的上述不足,提供了一种基于视频实景导航技术的室内导航方法及系统。该方法及系统采用第一人称视角视频引导用户完成室内导航,用户只需跟随系统返回的视频视角行走即可行进至目的地,克服了现有技术中导航精度与成本的冲突问题,实现室内无信源、高精度、低成本的室内导航,为室内导航的普及化奠定相应的技术基础。Aiming at the above shortcomings in the prior art, the present invention provides an indoor navigation method and system based on the video real scene navigation technology. The method and system use the first-person perspective video to guide the user to complete indoor navigation, and the user only needs to follow the video perspective returned by the system to travel to the destination, which overcomes the conflict between navigation accuracy and cost in the prior art, and realizes indoor confidence-free operation. Source, high-precision, low-cost indoor navigation, laying the corresponding technical foundation for the popularization of indoor navigation.
本发明是通过以下技术方案实现的。The present invention is achieved through the following technical solutions.
根据本发明的一个方面,提供了一种基于视频实景导航技术的室内导航方法,包括:According to an aspect of the present invention, there is provided an indoor navigation method based on the video real scene navigation technology, including:
在服务器端:On the server side:
S1,对需要导航适配的建筑物进行建模;S1, modeling the buildings that need to be adapted for navigation;
S2,在S1所建模型的基础上,对建筑物内部路径进行划分,获取路径划分节点;S2, on the basis of the model built in S1, divide the internal path of the building, and obtain the path division node;
S3,根据S2中划分的路径,获取与之对应的建筑物实地路径第一视角视频信息,得到与路径划分节点相适配的实地路径节点;S3, according to the path divided in S2, obtain the first-view video information of the corresponding building field path, and obtain the field path node adapted to the path division node;
S4,包括如下任意一个或任意多个步骤:S4, including any one or any of the following steps:
-对S3中得到的各路径节点进行标号设置,并对建筑物实地路径视频中的干扰元素进行剔除以及对标志性元素进行醒目处理;- Set the labels for each path node obtained in S3, and remove the interfering elements in the video of the actual path of the building and carry out eye-catching treatment on the iconic elements;
-对S3中得到的建筑物实地路径视频中的干扰元素进行剔除以及对标志性元素进行醒目处理,并以设定的时间间隔从所有路径节点中抽取路径节点图片组成图片库;优选地,设定的时间间隔为0.1s;进一步优选地,,每一张路径节点图片所含信息包括:该图片所属路径节点以及该图片在该路径节点中出现的时间。- Eliminate the interfering elements in the video of the actual path of the building obtained in S3 and perform eye-catching processing on the iconic elements, and extract path node pictures from all path nodes at a set time interval to form a picture library; preferably, set The predetermined time interval is 0.1s; further preferably, the information contained in each path node picture includes: the path node to which the picture belongs and the time when the picture appears in the path node.
S5,在S4的基础上,对建筑物所有路径节点进行两两组合,获取所有可能的路径节点组合对;计算所有路径节点组合对所对应的最短路径,形成采用路径节点表示的最短路径视频数据,所述最短路径视频数据即为室内导航视频数据。S5, on the basis of S4, combine all the path nodes of the building in pairs to obtain all possible path node combination pairs; calculate the shortest paths corresponding to all the path node combination pairs, and form the shortest path video data represented by the path nodes , the shortest path video data is indoor navigation video data.
优选地,所述S2中,对建筑物内部路径进行划分并获得路径划分节点的方法为:Preferably, in the S2, the method for dividing the internal path of the building and obtaining the path dividing node is:
以建筑物中所有可能能被用户选作导航目的地的地点为基准,将相邻两个可能目的地之间的路径作为一个基本的路径划分节点,建筑物中任意两个地点之间的路径均通过一个或多个基本的路径划分节点组合而成。Based on all the locations in the building that may be selected by the user as the navigation destination, the path between two adjacent possible destinations is used as a basic path division node, and the path between any two locations in the building is All are combined by one or more basic path division nodes.
优选地,所述S4中,对建筑物实地路径视频中的干扰元素进行剔除采用pr视频剪辑方法;和/或Preferably, in said S4, the pr video editing method is used to eliminate the interfering elements in the video of the building's field path; and/or
对标志性元素进行醒目处理采用渲染方法。Striking treatment of iconic elements takes a rendering approach.
优选地,所述S5中,采用双向A*算法,计算路径节点组合对所对应的最短路径;其中:Preferably, in the S5, a bidirectional A* algorithm is used to calculate the shortest path corresponding to the path node combination pair; wherein:
所述双向A*算法,包括:The bidirectional A* algorithm includes:
将路径节点组合对中的一个路径节点作为起点,另一个路径节点作为终点;Take one path node in the path node combination pair as the starting point and the other path node as the end point;
开启两个线程,分别执行两个不完全相同的搜索过程,其中,一个线程处理从作为起点的路径节点到作为终点的路径节点的搜索过程,另一个线程处理从作为终点的路径节点到作为起点的路径节点的搜索过程;Start two threads and execute two different search processes respectively, in which one thread processes the search process from the path node as the starting point to the path node as the end point, and the other thread processes the path node from the end point to the starting point The search process of the path node;
当两个线程处理到同一个路径节点时,以此判定得到了一条路径节点组合对所对应的最短路径。When two threads process the same path node, it is determined that a shortest path corresponding to a path node combination pair is obtained.
优选地,所述方法还包括:Preferably, the method further includes:
在用户端:On the user side:
s1,用户根据可获得的路径节点标号或路径节点图片,获取所在位置信息作为起点信息,并通过用户交互终端选择目的地作为终点信息;s1, the user obtains the location information as the starting point information according to the available path node labels or path node pictures, and selects the destination as the end point information through the user interaction terminal;
s2,用户交互终端根据起点信息和终点信息,向服务器端请求与起点信息和终点信息相适配的最短路径视频数据并播放。s2, according to the starting point information and the ending point information, the user interaction terminal requests the server side for shortest path video data adapted to the starting point information and the ending point information, and plays the video data.
优选地,所述s1中,用户根据可获得的路径节点标号,获取所在位置信息作为起点信息的方法为:将路径节点标号设置为二维码形式,用户通过扫描二维码,获取所在位置信息。Preferably, in the s1, the method for the user to obtain the location information as the starting point information according to the available path node labels is: setting the path node label in the form of a two-dimensional code, and the user obtains the location information by scanning the two-dimensional code. .
优选地,所述s1中,用户根据可获得的路径节点图片,获取所在位置信息作为起点信息的方法为:用户对身前路径拍照上传,服务器端根据用户上传的图片,与路径节点图片一一进行像素级对比,当与某一路径节点图片相似度达到设定阈值时,判断用户上传的图片与该路径节点图片为同一张,进而根据该路径节点图片获取所在位置信息。Preferably, in the s1, the method for the user to obtain the location information as the starting point information according to the available path node pictures is as follows: the user takes a picture of the path in front of him and uploads it, and the server side, according to the picture uploaded by the user, and the path node picture one by one Pixel-level comparison is performed. When the similarity with a certain path node picture reaches the set threshold, it is judged that the picture uploaded by the user is the same as the path node picture, and then the location information is obtained according to the path node picture.
优选地,所述s2中,播放最短路径视频数据前,还包括:指导用户对导航的初始方向进行调整。Preferably, in the s2, before playing the shortest path video data, the method further includes: instructing the user to adjust the initial direction of the navigation.
优选地,所述方法还包括:Preferably, the method further includes:
在用户端:On the user side:
s3,用户交互终端将用户对最短路径视频数据的评估结果反馈至服务器端,用于服务器端对最短路径视频数据进行优化;其中:s3, the user interaction terminal feeds back the user's evaluation result of the shortest path video data to the server side, which is used for the server side to optimize the shortest path video data; wherein:
所述优化方法为:采用双向A*算法,重新计算路径节点组合对所对应的最短路径。The optimization method is: using the bidirectional A* algorithm to recalculate the shortest path corresponding to the path node combination pair.
根据本发明的第二个方面,提供了一种基于视频实景导航技术的室内导航系统,其特征在于,包括:According to a second aspect of the present invention, there is provided an indoor navigation system based on the video real scene navigation technology, characterized in that it includes:
-设置于服务器端的:- Set on the server side:
建筑物建模模块:所述建筑物建模模块对需要导航适配的建筑物进行CAD建模;Building modeling module: The building modeling module performs CAD modeling for buildings that need to be navigated and adapted;
路径划分模块:所述路径划分节点获取模块在建筑物建模模块所建模型的基础上,对建筑物内部路径进行划分,获取路径划分节点;Path division module: the path division node acquisition module divides the internal path of the building on the basis of the model built by the building modeling module, and obtains the path division node;
路径节点获取模块:所述路径节点获取模块根据路径划分模块中划分的路径,获取与之对应的建筑物实地路径第一视角视频信息,得到与路径划分节点相适配的实地路径节点;Path node acquisition module: the path node acquisition module acquires the corresponding first-view video information of the building field path according to the path divided in the path division module, and obtains the field path node adapted to the path division node;
视频处理模块:包括视频处理单元,所述视频处理单元用于:Video processing module: including a video processing unit, the video processing unit is used for:
对路径节点获取模块中得到的各路径节点进行标号设置,并对建筑物实地路径视频中的干扰元素进行剔除以及对标志性元素进行醒目处理;和/或Perform label setting on each path node obtained in the path node acquisition module, remove interfering elements in the video of the actual path of the building, and perform eye-catching processing on iconic elements; and/or
对路径节点获取模块中得到的建筑物实地路径视频中的干扰元素进行剔除以及对标志性元素进行醒目处理,并以设定的时间间隔从所有路径节点中抽取路径节点图片组成图片库;Eliminate the interfering elements in the video of the real path of the building obtained in the path node acquisition module, and carry out eye-catching processing on the iconic elements, and extract the path node pictures from all the path nodes at a set time interval to form a picture library;
路径计算模块:所述路径计算模块在视频处理模块处理后视频的基础上,对建筑物所有路径节点进行两两组合,获取所有可能的路径节点组合对;计算所有路径节点组合对所对应的最短路径,形成采用路径节点表示的最短路径视频数据;Path calculation module: on the basis of the video processed by the video processing module, the path calculation module performs pairwise combinations of all the path nodes of the building to obtain all possible path node combinations; calculates the shortest corresponding to all the path node combinations. path to form the shortest path video data represented by path nodes;
数据库模块:所述数据库模块用于保存路径计算模块中得到的最短路径视频数据,和/或,视频处理模块中得到的图片库;Database module: the database module is used to save the shortest path video data obtained in the path calculation module, and/or, the picture library obtained in the video processing module;
-设置于用户端的:- Set on the client side:
路径请求模块:所述路径请求模块根据可获得的路径节点标号或路径节点图片获取用户所在位置信息作为起点信息,并根据选择的目的地数据作为终点信息,得到路径起点终点信息;Path request module: the path request module obtains the user's location information as the starting point information according to the available path node labels or path node pictures, and obtains the path starting point and end point information according to the selected destination data as the end point information;
导航模块:所述导航模块根据路径请求模块得到的路径起点终点信息,向服务器端的数据库模块调取与路径起点终点信息相适配的最短路径视频数据。Navigation module: The navigation module retrieves the shortest path video data adapted to the path start and end point information from the database module on the server side according to the path start and end point information obtained by the path request module.
优选地,所述视频处理模块还包括:视频压缩单元,所述视频压缩单元对视频处理单元处理后的建筑物实地路径视频进行压缩。Preferably, the video processing module further comprises: a video compression unit, the video compression unit compresses the video of the building's field path processed by the video processing unit.
优选地,所述路径请求模块中,路径节点标号通过设置于建筑物内部与视频节点位置相对应处,并与视频节点标号一一对应的位置标识获得。Preferably, in the path request module, the path node label is obtained by a position identifier that is set inside the building and corresponds to the position of the video node and corresponds to the video node label one-to-one.
优选地,所述路径请求模块还包括:图片匹配单元,所述图片匹配单元根据用户上传的身前路径图片,与路径节点图片一一进行像素级对比,当与某一路径节点图片相似度达到设定阈值时,判断用户上传的图片与该路径节点图片为同一张,进而根据该路径节点图片获取所在位置信息。Preferably, the path request module further includes: a picture matching unit, the picture matching unit performs pixel-level comparison with the path node picture one by one according to the path picture in front of the user uploaded by the user, and when the similarity with a certain path node picture reaches When the threshold is set, it is determined that the picture uploaded by the user is the same as the picture of the path node, and then the location information is obtained according to the picture of the path node.
优选地,所述导航模块还包括:获取用户对最短路径视频数据的评估结果,并将评估结果发送至路径计算模块进行路径优化。Preferably, the navigation module further comprises: acquiring the user's evaluation result on the shortest path video data, and sending the evaluation result to the path calculation module for path optimization.
优选地,所述位置标识采用二维码或程序码的形式设置;相应地,所述路径请求模块包括二维码或程序码扫描单元。Preferably, the location identifier is set in the form of a two-dimensional code or a program code; correspondingly, the path request module includes a two-dimensional code or program code scanning unit.
优选地,所述路径请求模块还包括,用于用户获取身前路径图片的图像获取单元。Preferably, the path request module further includes an image acquisition unit for the user to acquire a picture of the path in front of him.
与现有技术相比,本发明具有如下的有益效果:Compared with the prior art, the present invention has the following beneficial effects:
1、本发明提供的基于视频实景导航技术的室内导航方法及系统,通过对视频实景导航技术进行自主研发与应用,实现了低成本、高精度的室内导航方案搭建,解决了现有技术中成本与精度无法兼顾的矛盾,填补现有技术中的空缺,为室内导航的普及化奠定技术基础。1. The indoor navigation method and system based on the video real scene navigation technology provided by the present invention realizes the construction of a low-cost and high-precision indoor navigation scheme through independent research and development and application of the video real scene navigation technology, and solves the cost in the prior art. It fills the gap in the existing technology and lays a technical foundation for the popularization of indoor navigation.
2、本发明提供的基于视频实景导航技术的室内导航方法及系统,通过对A*寻路算法的优化,提供了一种双向A*算法,实现了A*算法在室内导航中的良好适配应用,并提升了算法性能和实际表现,简化了视频实景导航技术实际适配的流程和工作量。2. The indoor navigation method and system based on the video real scene navigation technology provided by the present invention provides a two-way A* algorithm by optimizing the A* pathfinding algorithm, which realizes the good adaptation of the A* algorithm in indoor navigation. It improves the performance and actual performance of the algorithm, and simplifies the process and workload of the actual adaptation of the video real scene navigation technology.
3、本发明提供的基于视频实景导航技术的室内导航方法及系统,对于室内导航的商业化、普及化有着深远意义,其从根本上解决了传统的导航系统成本与精度不可调和的严重阻碍,为室内导航方案提供了全新的思路,具有重大的应用价值和现实意义。3. The indoor navigation method and system based on the video real scene navigation technology provided by the present invention has far-reaching significance for the commercialization and popularization of indoor navigation, which fundamentally solves the serious obstacle of the irreconcilable cost and accuracy of the traditional navigation system, It provides a new idea for indoor navigation scheme, which has great application value and practical significance.
附图说明Description of drawings
通过阅读参照以下附图对非限制性实施例所作的详细描述,本发明的其它特征、目的和优点将会变得更明显:Other features, objects and advantages of the present invention will become more apparent by reading the detailed description of non-limiting embodiments with reference to the following drawings:
图1为本发明实施例所提供的基于视频实景导航技术的室内导航方法流程图;FIG. 1 is a flowchart of an indoor navigation method based on a video real scene navigation technology provided by an embodiment of the present invention;
图2为本发明实施例所提供的第一视角获取视实地路径视频节点的示意图;FIG. 2 is a schematic diagram of acquiring a visual path video node from a first perspective provided by an embodiment of the present invention;
图3为本发明实施例所提供的基于视频实景导航技术的室内导航系统数据流示意图;FIG. 3 is a schematic diagram of a data flow of an indoor navigation system based on a real-time video navigation technology provided by an embodiment of the present invention;
图4为本发明实施例所提供的双向A*算法在给定栅格地图中,分别计算8领域曼哈顿距离,4领域曼哈顿距离,8领域欧式距离,4领域欧式距离的运行结果图;其中,(a)为8领域曼哈顿距离的运行结果图,(b)为4领域曼哈顿距离的运行结果图,(c)为8领域欧式距离的运行结果图,(d)为4领域欧式距离的运行结果图。Fig. 4 is the bidirectional A* algorithm provided by the embodiment of the present invention in a given grid map, respectively calculates 8-domain Manhattan distance, 4-domain Manhattan distance, 8-domain Euclidean distance, and 4-domain Euclidean distance operation result diagram; wherein, (a) is the running result of 8-domain Manhattan distance, (b) is the running result of 4-domain Manhattan distance, (c) is the running result of 8-domain Euclidean distance, (d) is the running result of 4-domain Euclidean distance picture.
具体实施方式Detailed ways
下面对本发明的实施例作详细说明:本实施例在以本发明技术方案为前提下进行实施,给出了详细的实施方式和具体的操作过程。应当指出的是,对本领域的普通技术人员来说,在不脱离本发明构思的前提下,还可以做出若干变形和改进,这些都属于本发明的保护范围。The embodiments of the present invention are described in detail below: This embodiment is implemented on the premise of the technical solution of the present invention, and provides detailed implementation modes and specific operation processes. It should be pointed out that for those skilled in the art, without departing from the concept of the present invention, several modifications and improvements can be made, which all belong to the protection scope of the present invention.
本发明实施例提供了一种的基于视频实景导航技术的室内导航方法及系统,采用第一人称视角视频引导用户完成室内导航,用户只需跟随返回的视频视角行走即可行进至目的地,实现室内无信源、高精度、低成本的室内导航,为室内导航的普及化奠定相应的技术基础。The embodiments of the present invention provide an indoor navigation method and system based on a video real scene navigation technology. The first-person perspective video is used to guide the user to complete the indoor navigation. The user only needs to follow the returned video perspective to travel to the destination. Source-free, high-precision, low-cost indoor navigation lays a corresponding technical foundation for the popularization of indoor navigation.
下面结合附图,对本发明实施例所提供的技术方案进一步详细描述。The technical solutions provided by the embodiments of the present invention are further described in detail below with reference to the accompanying drawings.
如图1所示,本发明实施例提供的基于视频实景导航技术的室内导航方法,在服务器端,所述方法包括如下步骤:As shown in FIG. 1, the indoor navigation method based on the video real scene navigation technology provided by the embodiment of the present invention, on the server side, the method includes the following steps:
步骤S1,对需要导航适配的建筑物进行CAD建模;Step S1, CAD modeling is performed on the building that needs to be navigated and adapted;
步骤S2,在步骤S1所建模型的基础上,对建筑物内部路径进行划分,获取路径划分节点;(其中,路径划分节点表示路径的划分方案中的非实物节点);Step S2, on the basis of the model built in step S1, the internal path of the building is divided, and the path division node is obtained; (wherein, the path division node represents the non-physical node in the division scheme of the path);
步骤S3,根据步骤S2中划分的路径,获取与之对应的建筑物实地路径第一视角视频信息,得到与路径划分节点相适配的实地路径节点;其中,建筑物实地路径第一视角视频信息通过实地利用摄像机第一视角拍摄事先划分好的路径的方式获得;(其中,路径节点表示采集的视频信息中的实物节点);Step S3, according to the path divided in step S2, obtain the first-view video information of the corresponding building field path, and obtain the field path node adapted to the path division node; wherein, the first-view video information of the building field path is obtained. Obtained by shooting the pre-divided path from the first perspective of the camera on the spot; (wherein, the path node represents the physical node in the collected video information);
步骤S4,包括如下任意一个或任意多个步骤:Step S4 includes any one or any of the following steps:
-对步骤S3中得到的各路径节点进行统一标号,并与建筑物实地路径对应;采用pr剪辑的方式剔除掉干扰元素(如行人等);对标志性元素做醒目处理(如特定的商店招牌、路标等);- Uniformly label each path node obtained in step S3, and correspond to the actual path of the building; use pr editing to remove interfering elements (such as pedestrians, etc.); do eye-catching treatment to iconic elements (such as specific store signs) , road signs, etc.);
-对S3中得到的建筑物实地路径视频中的干扰元素(如行人等)进行剔除以及对标志性元素(如特定的商店招牌、路标等)进行醒目处理,并以设定的时间间隔从所有路径节点中抽取路径节点图片组成图片库;- Eliminate interfering elements (such as pedestrians, etc.) and prominently process iconic elements (such as specific store signs, road signs, etc.) in the video of the building's field path obtained in S3, and select from all Extract path node pictures from path nodes to form a picture library;
步骤S5,在步骤S4中得到的视频数据的基础上,对建筑物所有路径节点进行两两组合获取所有可能的路径节点组合对;计算所有路径节点组合对所对应的最短路径,形成采用路径节点表示的最短路径视频数据,所述最短路径视频数据即为室内导航视频数据。In step S5, on the basis of the video data obtained in step S4, all path nodes of the building are combined in pairs to obtain all possible path node combinations; The shortest path video data represented by the shortest path video data is the indoor navigation video data.
进一步地,在用户端,所述方法还包括:Further, at the user end, the method further includes:
s1,用户根据可获得的路径节点标号或路径节点图片获取所在位置信息作为起点信息,并通过用户交互终端选择目的地作为终点信息;s1, the user obtains the location information as the starting point information according to the available path node labels or path node pictures, and selects the destination as the end point information through the user interaction terminal;
s2,用户交互终端根据起点信息和终点信息,向服务器端请求与起点信息和终点信息相适配的最短路径视频数据并播放。s2, according to the starting point information and the ending point information, the user interaction terminal requests the server side for shortest path video data adapted to the starting point information and the ending point information, and plays the video data.
用户跟随最短路径视频数据的视角行走,完成导航。The user walks following the perspective of the shortest path video data to complete the navigation.
进一步地,所述s2中,播放最短路径视频数据前,还包括:指导用户对导航的初始方向进行调整。Further, in the s2, before playing the shortest path video data, the method further includes: instructing the user to adjust the initial direction of the navigation.
进一步地,在用户端,所述方法还包括:Further, at the user end, the method further includes:
用户交互终端将用户对最短路径视频数据的评估结果反馈至服务器端,用于服务器端对最短路径视频数据进行优化;其中,优化的方法具体为:采用双向A*算法,重新计算路径节点组合对所对应的最短路径。The user interaction terminal feeds back the user's evaluation result of the shortest path video data to the server side, which is used for the server side to optimize the shortest path video data; wherein, the optimization method is specifically: using a bidirectional A* algorithm, recalculating the path node combination pair the corresponding shortest path.
在本发明本实施例中:In this embodiment of the present invention:
路径划分节点,其本质是建筑物内部路径的一种划分,建筑物内部任意一条路径均可以通过一个或者多个现有的路径节点组合表示。The path division node is essentially a division of the path inside the building. Any path inside the building can be represented by a combination of one or more existing path nodes.
采用第一人称视角拍摄路径划分节点相应的路径节点。路径节点和路径划分节点相匹配,拍摄过程如图2所示,拍摄者所见即视频所录制,用户可以跟随该视频重复拍摄者的行程,视频的视角充当了一个虚拟的领路人。Use the first-person perspective to shoot the path nodes corresponding to the path division nodes. The path node matches the path division node. The shooting process is shown in Figure 2. What the photographer sees is the video recorded, and the user can follow the video to repeat the photographer's journey. The perspective of the video acts as a virtual guide.
拍摄的建筑物实地路径视频信息需要进行剪辑修改处理,将视频中的干扰元素(如行人)剪去,并采用渲染的方式突出标志性元素(如关键的商店招牌),最后还可以在保证视频辨识度的基础上压缩视频大小以加快传输速率。The video information of the actual path of the building needs to be edited and modified, and the disturbing elements (such as pedestrians) in the video are cut out, and the iconic elements (such as key store signs) are highlighted by rendering, and finally the video can be guaranteed. Compress the video size based on the resolution to speed up the transmission rate.
本发明实施例采用空间换取时间的策略,通过提前计算好建筑物内部所有的可能路径,并且把可能路径所对应的路径节点序号或路径节点图片保存至数据库中;当用户发送路径请求时,只需简单的匹配用户需求(起点终点信息)和事先计算好的路径,调取相应的路径节点组合即可。The embodiment of the present invention adopts the strategy of exchanging space for time, calculates all possible paths inside the building in advance, and saves the path node sequence numbers or path node pictures corresponding to the possible paths in the database; when a user sends a path request, only It is necessary to simply match user requirements (start and end point information) and the pre-calculated path, and call the corresponding path node combination.
在本发明实施例中,通过设置与路径节点位置相对应且与路径节点标号一一对应的位置标识,用户能够轻松获取当前所在位置信息作为起始点;或,通过用户上传的身前路径图片,与路径节点图片一一进行像素级对比,当与某一路径节点图片相似度达到设定阈值时,判断用户上传的图片与该路径节点图片为同一张,进而根据该路径节点图片获取所在位置信息作为起始点。In the embodiment of the present invention, by setting the position identifier corresponding to the position of the path node and corresponding to the path node label one-to-one, the user can easily obtain the current location information as the starting point; or, through the path picture in front of the user uploaded by the user, Compare with the path node picture one by one at the pixel level. When the similarity with a certain path node picture reaches the set threshold, it is judged that the picture uploaded by the user is the same as the path node picture, and then the location information is obtained according to the path node picture. as a starting point.
在本发明实施例中,与路径节点图片一一进行像素级对比的算法采用序贯相似性检测算法(Sequential Similiarity Detection Algorithm,简称SSDA算法),分别以路径节点图片库中所有图片为搜索图片,以用户上传图片为模板图片进行搜索,当存在某图片中成功搜索到用户上传图片时,则认为用户当前处于该图片对应位置;若存在多张图片中均能搜索出用户上传图片,则选择最接近(即累积误差最低的)作为理想图片;若不存在满足条件的图片时,则提示用户再次上传。In the embodiment of the present invention, the algorithm for pixel-level comparison with the path node pictures one by one adopts a sequential similarity detection algorithm (Sequential Similiarity Detection Algorithm, SSDA algorithm for short), and all pictures in the path node picture library are used as search pictures respectively, The user-uploaded image is used as the template image for searching. When a user-uploaded image is successfully searched in a certain image, it is considered that the user is currently in the corresponding position of the image; if there are multiple images that can be searched for the user-uploaded image, select the most The image that is close (that is, the lowest cumulative error) is regarded as the ideal image; if there is no image that meets the conditions, the user is prompted to upload it again.
在本发明实施例中,阈值的设定,根据建筑物具体地形、实施时视频清晰度和图片像素大小进行设定。In the embodiment of the present invention, the setting of the threshold value is set according to the specific terrain of the building, the video definition during implementation, and the pixel size of the picture.
位置标识可以采用二维码或小程序码,其中所含有的信息是打开用户交互终端的命令与二维码所处的位置信息;即用户扫码,打开应用的同时,获取用户扫码的位置;同时,在播放最短路径视频数据前,还包括:指导用户对导航的初始方向进行调整,具体为:可以通过加载一张图片,引导用户旋转以调整身位,作为导航的初始方向;当服务器端获取用户的起点信息时,只知道用户所在的位置,如果直接播放视频信息,用户可能不知道该往哪个方向迈出第一步;加载的图片可以引导用户原地旋转,直到看到的身前路径和加载的图片一致,那么此时用户身前的方向就是导航的初始方向。The location identification can be a two-dimensional code or a small program code, and the information contained in it is the command to open the user interactive terminal and the location information of the two-dimensional code; that is, the user scans the code, and when the application is opened, the location where the user scans the code is obtained. At the same time, before playing the shortest path video data, it also includes: instructing the user to adjust the initial direction of the navigation, specifically: by loading a picture, guiding the user to rotate to adjust the body position, as the initial direction of the navigation; when the server When the terminal obtains the user's starting point information, it only knows the user's location. If the video information is played directly, the user may not know which direction to take the first step; the loaded picture can guide the user to rotate in place until the body seen If the front path is the same as the loaded image, then the direction in front of the user at this time is the initial direction of the navigation.
用户需要导航时,扫描二维码,应用打开并且获取用户所处的位置。由于每个位置码都有其独特标号与位置信息,服务器接收用户目的地,调取出发点和目的地的路径节点组合,发送至用户端,开始引导用户路径。或者,用户对身前路径拍照上传,服务器端根据用户上传的图片,与路径节点图片一一进行像素级对比,当与某一路径节点图片相似度达到设定阈值时,判断用户上传的图片与该路径节点图片为同一张,进而根据该路径节点图片获取所在位置信息,服务器接收用户目的地,调取出发点和目的地的路径节点组合,发送至用户端,开始引导用户路径。When the user needs to navigate, scan the QR code, the application opens and obtains the user's location. Since each location code has its unique label and location information, the server receives the user's destination, retrieves the path node combination of the origin and destination, and sends it to the user to start guiding the user's path. Alternatively, the user takes a photo of the path in front of him and uploads it, and the server compares the image uploaded by the user with the path node image one by one at the pixel level. The path node picture is the same, and then the location information is obtained according to the path node picture. The server receives the user destination, retrieves the path node combination of the starting point and the destination, and sends it to the client to start guiding the user path.
用户跟随视频节点组合形成的视频视角行走,完成导航。The user walks along the video perspective formed by the combination of video nodes to complete the navigation.
本发明实施例中,采用双向A*算法,计算路径节点组合对所对应的最短路径。本发明实施例所采用的双向A*算法与传统A*算法不同,传统A*算法使用的搜索方式为从起点一直搜索扩展到终点为止,并在此过程中生成一条最短路径;而双向A*算法采取的搜索方式是从两个方向同时进行搜索,即,将路径节点组合对中的一个路径节点作为起点,另一个路径节点作为终点,算法开启两个线程(即搜索路线),其中一个线程从起点向终点扩展,另一个线程从终点向起点扩展。当两个搜索路线汇合到同一个位置时,就可以得到一条最短路径。In the embodiment of the present invention, the bidirectional A* algorithm is used to calculate the shortest path corresponding to the combined pair of path nodes. The two-way A* algorithm used in the embodiment of the present invention is different from the traditional A* algorithm. The search method used by the traditional A* algorithm is to search from the starting point to the end point, and generate a shortest path in the process; while the two-way A* algorithm The search method adopted by the algorithm is to search from two directions at the same time, that is, one path node in the path node combination pair is used as the starting point, and the other path node is used as the end point, and the algorithm starts two threads (ie, search routes), one of which is Extends from the beginning to the end, and another thread expands from the end to the beginning. When two search routes converge to the same location, a shortest path can be obtained.
相比传统A*算法,本发明实施例采用双向A*算法,其运行速度将提高一倍,理想运行过程如图4所示。另外,传统A*算法在求解复杂路径问题是往往只能得到一个固定的解,而双向A*算法在某些路径问题的求解过程中可以得到实际存在的多个不同最优解。图4中,(a)、(b)、(c)、(d)依次是利用双向A*算法计算8领域曼哈顿距离、4领域曼哈顿距离、8领域欧式距离、4领域欧式距离的运行结果图;图中,黑色实心圆点为起点与终点,两个黑色实心圆点之间的黑色连接实线为规划路线,其余斜向黑色实线表示本次规划所遍历的节点方格。Compared with the traditional A* algorithm, the embodiment of the present invention adopts the bidirectional A* algorithm, and its running speed will be doubled, and the ideal running process is shown in FIG. 4 . In addition, the traditional A* algorithm can only obtain a fixed solution in solving complex path problems, while the bidirectional A* algorithm can obtain multiple different optimal solutions that actually exist in the process of solving some path problems. In Figure 4, (a), (b), (c), (d) are the running results of calculating the 8-domain Manhattan distance, the 4-domain Manhattan distance, the 8-domain Euclidean distance, and the 4-domain Euclidean distance using the bidirectional A* algorithm. ; In the figure, the black solid dots are the starting point and the end point, the black connecting solid line between the two black solid dots is the planned route, and the remaining diagonal black solid lines represent the node squares traversed by this plan.
表1为本发明实施例所提供的双向A*算法与传统A*算法性能对比表;其中M表示曼哈顿距离,E表示欧式距离,所有算法均运行在同一栅格地图中;如表1所示,可以看到传统A*算法和双向A*算法在某个特定路径问题中求解对比情况。Table 1 is a performance comparison table between the two-way A* algorithm and the traditional A* algorithm provided by the embodiment of the present invention; wherein M represents the Manhattan distance, E represents the Euclidean distance, and all algorithms run in the same grid map; as shown in Table 1 , you can see the comparison between the traditional A* algorithm and the bidirectional A* algorithm in a specific path problem.
表1Table 1
本发明实施例中所采用的用户交互终端,可以采用微信小程序的形式,也可以采用APP应用程序的形式。The user interaction terminal used in the embodiment of the present invention may be in the form of a WeChat applet or an APP application program.
其中:in:
小程序开发:可以在Windows10专业版操作系统下,使用微信web开发者工具(WeChat_devtools)基于JavaScript语言进行开发。Mini program development: You can use the WeChat web developer tools (WeChat_devtools) to develop based on the JavaScript language under the Windows 10 professional operating system.
安卓APP应用程序开发:可以在Windows10专业版操作系统下,使用AndroidStudio基于Java语言进行开发。Android APP application development: You can use Android Studio to develop based on Java language under the Windows 10 professional operating system.
服务器端搭建:可以在CentOS系统下,安装Apache与MySQL,搭建LAMP环境,使用php语言进行开发。Server-side construction: You can install Apache and MySQL under the CentOS system, build a LAMP environment, and use the php language for development.
本发明实施例同时提供了一种一种基于视频实景导航技术的室内导航系统,该系统可以用于实施上述方法,该系统的数据流示意图如图3所示。The embodiment of the present invention also provides an indoor navigation system based on the video real scene navigation technology, the system can be used to implement the above method, and a schematic diagram of the data flow of the system is shown in FIG. 3 .
所述系统包括:The system includes:
-设置于服务器端的:- Set on the server side:
建筑物建模模块:对需要导航适配的建筑物进行CAD建模;Building modeling module: CAD modeling of buildings that need to be navigated and adapted;
路径划分模块:在建筑物建模模块所建模型的基础上,对建筑物内部路径进行划分,获取路径划分节点;Path division module: On the basis of the model built by the building modeling module, the internal path of the building is divided, and the path division nodes are obtained;
路径节点获取模块:根据路径划分模块中划分的路径,获取与之对应的建筑物实地路径第一视角视频信息,得到与路径划分节点相适配的实地路径节点;Path node acquisition module: According to the path divided in the path division module, obtain the first-view video information of the corresponding building field path, and obtain the field path node adapted to the path division node;
视频处理模块:对路径节点获取模块中得到的各视路径点进行标号设置,并对建筑物实地路径视频中的干扰元素进行剔除以及对标志性元素进行醒目处理;和/或Video processing module: set labels for each visual path point obtained in the path node acquisition module, and remove interfering elements in the video of the actual path of the building and perform eye-catching processing on iconic elements; and/or
对路径节点获取模块中得到的建筑物实地路径视频中的干扰元素进行剔除以及对标志性元素进行醒目处理,并以设定的时间间隔从所有路径节点中抽取路径节点图片组成图片库;Eliminate the interfering elements in the video of the real path of the building obtained in the path node acquisition module, and carry out eye-catching processing on the iconic elements, and extract the path node pictures from all the path nodes at a set time interval to form a picture library;
路径计算模块:在视频处理模块处理后视频的基础上,对建筑物所有路径节点进行两两组合,获取所有可能的路径节点组合对;计算所有路径节点组合对所对应的最短路径,形成采用路径节点表示的最短路径视频数据;Path calculation module: On the basis of the video processed by the video processing module, all the path nodes of the building are combined in pairs to obtain all possible path node combinations; calculate the shortest paths corresponding to all the path node combinations to form the adopted path The shortest path video data represented by the node;
数据库模块:用于保存路径计算模块中得到的最短路径视频数据,和/或,视频处理模块中得到的图片库;Database module: used to save the shortest path video data obtained in the path calculation module, and/or the picture library obtained in the video processing module;
-设置于用户端的:- Set on the client side:
路径请求模块:根据可获得的位置标识获取用户所在路径节点标号或路径节点图片作为起点信息,并根据选择的目的地数据作为终点信息,得到路径起点终点信息;Path request module: obtains the path node label or path node picture where the user is located as the starting point information according to the available location identifier, and obtains the starting point and end point information of the path according to the selected destination data as the end point information;
导航模块:根据路径请求模块得到的路径起点终点信息,向服务器端的数据库模块调取与路径起点终点信息相适配的最短路径视频数据。Navigation module: According to the path start and end point information obtained by the path request module, the shortest path video data that is adapted to the path start point and end point information is retrieved from the database module on the server side.
进一步地,所述视频处理模块,还包括:对剔除干扰元素以及对标志性元素进行醒目处理后的建筑物实地路径视频进行压缩的视频压缩单元。Further, the video processing module further includes: a video compression unit for compressing the video of the actual path of the building after the interference elements are removed and the landmark elements are highlighted.
进一步地,所述路径请求模块中,路径节点标号通过设置于建筑物内部与路径节点位置相对应处,并与路径节点标号一一对应的位置标识获得。Further, in the path request module, the path node label is obtained by a position identifier that is set inside the building and corresponds to the position of the path node and corresponds to the path node label one-to-one.
进一步地,所述路径请求模块还包括:图片匹配单元,所述图片匹配单元根据用户上传的身前路径图片,与路径节点图片一一进行像素级对比,当与某一路径节点图片相似度达到设定阈值时,判断用户上传的图片与该路径节点图片为同一张,进而根据该路径节点图片获取所在位置信息。Further, the path request module also includes: a picture matching unit, the picture matching unit performs pixel-level comparison with the path node picture one by one according to the path picture in front of the user uploaded by the user, and when the similarity with a certain path node picture reaches When the threshold is set, it is determined that the picture uploaded by the user is the same as the picture of the path node, and then the location information is obtained according to the picture of the path node.
进一步地,所述位置标识采用二维码或程序码的形式设置。Further, the location identification is set in the form of a two-dimensional code or a program code.
相应地,所述路径请求模块包括二维码或程序码扫描单元。Correspondingly, the path request module includes a two-dimensional code or program code scanning unit.
进一步地,所述路径请求模块还包括,用于用户获取身前路径图片的图像获取单元。Further, the path request module further includes an image acquisition unit for the user to acquire the path picture in front of him.
本发明上述实施例所提供的基于视频实景导航技术的室内导航方法及系统,是一种全新的室内视频实景导航技术;该技术不同于传统的导航方法,能够实现对外部信息与设备性能的低依赖化,是一种高精度低成本的视频实景导航技术。当用户向服务器端发出导航请求时,服务器端会返回预先设定好的第一视角路径视频引导用户完成导航,用户只需跟随该视频视角即可到达目的地。开发过程中,就建筑物路径划分,立体地点间最短路径计算以及特殊导航路线的处理分别进行深入研究和优化,进一步完善该导航系统的可靠性。The indoor navigation method and system based on the video real scene navigation technology provided by the above-mentioned embodiments of the present invention is a brand-new indoor video real scene navigation technology; this technology is different from the traditional navigation method, and can realize low performance of external information and equipment. Dependency is a high-precision and low-cost real-time video navigation technology. When the user sends a navigation request to the server, the server will return a preset first-view path video to guide the user to complete the navigation, and the user only needs to follow the video perspective to reach the destination. During the development process, in-depth research and optimization were carried out on the division of building paths, the calculation of the shortest path between three-dimensional locations and the processing of special navigation routes to further improve the reliability of the navigation system.
本发明上述实施例所提供的基于视频实景导航技术的室内导航方法及系统,采用双向A*算法,实现算法、视频实景导航技术和室内路径规划三者的有机结合,开发出能够良好适配视频实景导航技术的优化室内导航技术。The indoor navigation method and system based on the video real scene navigation technology provided by the above-mentioned embodiments of the present invention adopts the two-way A* algorithm to realize the organic combination of the algorithm, the video real scene navigation technology and the indoor path planning, and develops a video that can be well adapted to the video. Optimized indoor navigation technology for real-world navigation technology.
本发明上述实施例所提供的基于视频实景导航技术的室内导航方法及系统,采用Pr等视频编辑软件对视频节点进行编辑,消除扰乱信息并加入必要的醒目提示,以提高实际应用的用户体验;采用高效率的视频压缩技术,在保证辨识度的基础上对视频进行压缩,保证了视频传输的速度(导航视频的流畅度)和用户的流量消耗(用户经济性)。The indoor navigation method and system based on the video real scene navigation technology provided by the above-mentioned embodiments of the present invention use video editing software such as Pr to edit video nodes, eliminate disturbing information and add necessary eye-catching prompts to improve the user experience in practical applications; Using high-efficiency video compression technology, the video is compressed on the basis of ensuring the recognition degree, which ensures the speed of video transmission (the smoothness of the navigation video) and the user's traffic consumption (user economy).
本发明上述实施例所提供的基于视频实景导航技术的室内导航方法及系统,采用优化后的双向A*寻路算法,实现了A*算法在室内导航中的良好适配应用,并提升了A*算法的性能和实际表现,简化了视频实景导航技术实际适配的流程和工作量。The indoor navigation method and system based on the video real scene navigation technology provided by the above embodiments of the present invention adopts the optimized two-way A* pathfinding algorithm, which realizes the good adaptation application of the A* algorithm in indoor navigation, and improves the A* algorithm. *The performance and actual performance of the algorithm simplifies the process and workload of the actual adaptation of the video live navigation technology.
本发明上述实施例所提供的基于视频实景导航技术的室内导航方法及系统,提供了两种获取路径的方案,其中一种通过用户端扫描二维码获取起点信息,根据用户输入的终点信息,完成路径的模糊搜索匹配;另外一种通过用户对身前路径拍照上传,利用图像识别匹配以及用户确定识别结果来双重确认用户所在的位置作为起点信息,根据用户输入的终点信息,完成路径的精确搜索匹配。The indoor navigation method and system based on the video real scene navigation technology provided by the above-mentioned embodiments of the present invention provide two solutions for obtaining paths. Completing the fuzzy search and matching of the path; the other is through the user taking a photo of the path in front of him and uploading, using the image recognition matching and the user to determine the recognition result to double confirm the user's location as the starting point information, and complete the accurate path according to the end point information input by the user. Search for a match.
本发明上述实施例所提供的基于视频实景导航技术的室内导航方法及系统,通过建模获取路径节点,通过第一视角视频拍摄获取与之相适配的实地路径视频节点;在对视频节点视频进行处理及压缩的基础上,对所有视频节点进行两两组合形成视频节点组合对;计算视频节点组合对所对应的最短路径,形成采用视频节点表示的最短路径视频数据即为室内导航视频数据。用户根据视频节点标号获取所在位置信息作为起点信息,通过用户交互终端选择目的地作为终点信息,进而请求与起点信息和终点信息相适配的最短路径视频数据。本发明上述实施例所提供的基于视频实景导航技术的室内导航方法及系统,克服了现有技术中导航精度与成本的冲突问题,实现室内无信源、高精度、低成本的室内导航。In the indoor navigation method and system based on the video real scene navigation technology provided by the above-mentioned embodiments of the present invention, path nodes are obtained through modeling, and matching field path video nodes are obtained through first-view video shooting; On the basis of processing and compression, all video nodes are combined in pairs to form a video node combination pair; the shortest path corresponding to the video node combination pair is calculated to form the shortest path video data represented by video nodes, which is the indoor navigation video data. The user obtains the location information as the starting point information according to the video node label, selects the destination as the ending point information through the user interaction terminal, and then requests the shortest path video data adapted to the starting point information and the ending point information. The indoor navigation method and system based on the video real scene navigation technology provided by the above-mentioned embodiments of the present invention overcome the conflict between navigation accuracy and cost in the prior art, and realize indoor navigation with no signal source, high precision and low cost.
以上对本发明的具体实施例进行了描述。需要理解的是,本发明并不局限于上述特定实施方式,本领域技术人员可以在权利要求的范围内做出各种变形或修改,这并不影响本发明的实质内容。Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the above-mentioned specific embodiments, and those skilled in the art can make various variations or modifications within the scope of the claims, which do not affect the essential content of the present invention.
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EP4235102A1 (en) | 2022-02-25 | 2023-08-30 | Qvadis S.r.l. | Method of providing a navigation path in an enclosed environment |
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