CN111405485B - User positioning method and system - Google Patents
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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
- H04W4/029—Location-based management or tracking services
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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
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
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Abstract
The invention provides a user positioning method and a user positioning system. The user positioning method comprises the following steps: the client adds a plurality of characteristic points on a current image acquired in advance, determines current characteristic point coordinates of the characteristic points, and sends the current characteristic point coordinates and the current image added with the characteristic points to the server; the server side adjusts the current feature point coordinate according to the historical map and the current image, and sends the adjusted current feature point coordinate to the client side; and the client generates the current user position on a preset map according to the adjusted current feature point coordinate and displays the current user position to the user. The invention can accurately position and save a large amount of manpower and material resources.
Description
Technical Field
The present invention relates to the field of positioning technologies, and in particular, to a user positioning method and system.
Background
Indoor scenes are increasingly large and complex, and the requirements of large-scale business supermarkets, comprehensive hospitals, airports, parking lots and other places on positioning and navigation are gradually increased. It is highly desirable for a large business to be able to provide real-time guidance services to customers who have purchased in the future by means of indoor location technology, while providing corresponding marketing services based on location. Hospitals hope to position medical equipment in real time, and the medical equipment is convenient to call quickly when needed; the special patient is located and monitored, and accidents are prevented. High-risk chemical plants need to carry out positioning management on personnel, so that safety accidents and the like are prevented. The indoor positioning shows wide market prospect in the industries of retail, catering, logistics, manufacturing, chemical industry, electric power, medical treatment and the like.
Under the background, technologies such as Wi-Fi positioning, Bluetooth positioning, RFID positioning, UWB (ultra wide band) positioning, infrared technology, ultrasonic wave and the like enter the market in succession, and a plurality of effective position service schemes are contributed to indoor positioning requirements of different industries, but positioning is not accurate enough.
Disclosure of Invention
The embodiment of the invention mainly aims to provide a user positioning method and a user positioning system so as to accurately position and save a large amount of manpower and material resources.
In order to achieve the above object, an embodiment of the present invention provides a user positioning method, including:
the client adds a plurality of characteristic points on a current image acquired in advance, determines current characteristic point coordinates of the characteristic points, and sends the current characteristic point coordinates and the current image added with the characteristic points to the server;
the server side adjusts the current feature point coordinate according to the historical map and the current image, and sends the adjusted current feature point coordinate to the client side;
and the client generates the current user position on a preset map according to the adjusted current feature point coordinate and displays the current user position to the user.
An embodiment of the present invention further provides a user positioning system, including:
the client is used for adding a plurality of characteristic points on a pre-acquired current image, determining current characteristic point coordinates of the characteristic points, and sending the current characteristic point coordinates and the current image added with the characteristic points to the server; generating a current user position on a preset map according to the adjusted current feature point coordinates and displaying the current user position to a user;
and the server is used for adjusting the current characteristic point coordinate according to the historical map and the current image and sending the adjusted current characteristic point coordinate to the client.
According to the user positioning method, the client side adds the plurality of feature points on the current image acquired in advance and determines the current feature point coordinates of the plurality of feature points, the server side adjusts the current feature point coordinates according to the historical map and the current image, and the client side finally generates the current user position on the preset map according to the adjusted current feature point coordinates and displays the current user position to the user so as to accurately position the user and save a large amount of manpower and material resources.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.
FIG. 1 is a flow chart of a user location method in an embodiment of the invention;
FIG. 2 is a flow chart of a user location method in another embodiment of the present invention;
FIG. 3 is a flow chart of a user location method in accordance with yet another embodiment of the present invention;
fig. 4 is a block diagram of a user positioning system according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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 invention.
As will be appreciated by one skilled in the art, embodiments of the present invention may be embodied as a system, apparatus, device, method, or computer program product. Accordingly, the present disclosure may be embodied in the form of: entirely hardware, entirely software (including firmware, resident software, micro-code, etc.), or a combination of hardware and software.
In view of the fact that the positioning in the prior art is not accurate enough, the embodiment of the invention provides a user positioning method to accurately position and save a large amount of manpower and material resources. The present invention will be described in detail below with reference to the accompanying drawings.
Fig. 1 is a flowchart of a user positioning method according to an embodiment of the present invention. As shown in fig. 1, the user positioning method may include:
s101: the client adds a plurality of characteristic points on a pre-acquired current image, determines current characteristic point coordinates of the characteristic points, and sends the current characteristic point coordinates and the current image added with the characteristic points to the server.
The client is located on the mobile device, and the image acquisition device on the mobile device acquires a current image in reality. The client sends the current feature point coordinates and the current image added with the plurality of feature points to the server through a Transmission Control Protocol (TCP) service.
S102: and the server side adjusts the current feature point coordinates according to the historical map and the current image and sends the adjusted current feature point coordinates to the client side.
The historical map is a 3D mapping model created through historical feature point coordinates and an SLAM algorithm.
In one embodiment, the server adjusting the current feature point coordinates includes:
and the server compares the current image with the historical map through an SLAM algorithm, and adjusts the historical characteristic point coordinates of a plurality of characteristic points on the historical map according to the comparison result.
The server side can optimize the current image firstly and then compare the optimized current image with the historical map. SLAM (simultaneous Localization and Mapping) is also called CML (Concurrent Mapping and Localization).
And the server compares the adjusted historical characteristic point coordinates with the current characteristic point coordinates, and adjusts the current characteristic point coordinates according to the comparison result.
And the server side updates the historical map according to the adjusted current feature point coordinates. Wherein, the updated part in the historical map is the area near the current feature point coordinate. The invention can also combine and associate a plurality of updated areas in the historical map according to the current characteristic point coordinates, so that coordinate relation can be established between the maps which are isolated from each other. Even if the mapping algorithm is interrupted in the process of updating the map, the mapping algorithm can be restarted at any time without losing the existing mapping result.
S103: and the client generates the current user position on a preset map according to the adjusted current feature point coordinate and displays the current user position to the user.
The main execution bodies of the user positioning method shown in fig. 1 are a client and a server. As can be seen from the process shown in fig. 1, in the user positioning method according to the embodiment of the present invention, the client adds a plurality of feature points to the current image obtained in advance and determines current feature point coordinates of the plurality of feature points, the server adjusts the current feature point coordinates according to the historical map and the current image, and the client generates the current user position on the preset map according to the adjusted current feature point coordinates and displays the current user position to the user, so as to accurately position the user and save a large amount of manpower and material resources.
Fig. 2 is a flow chart of a user positioning method in another embodiment of the invention. As shown in fig. 2, the determining, by the client, the current feature point coordinates of the plurality of feature points includes:
s201: and the client determines the posture and the spatial position of the image acquisition device according to the current image.
In specific implementation, the client can extract the characteristic points of the front frame image and the rear frame image through the SLAM algorithm to be matched so as to determine the posture and the spatial position of the image acquisition device (relative to the surrounding world coordinates).
The client can also set some simple marks at the client, and the client can render the marks on the current image according to the posture of the image acquisition device.
S202: the client determines two-dimensional coordinates of a plurality of feature points in the current image.
S203: and the client determines the current characteristic point coordinate according to the attitude, the space position and the two-dimensional coordinate of the image acquisition device.
The client can determine the current feature point coordinates by using a triangulation principle.
Fig. 3 is a flow chart of a user positioning method in a further embodiment of the present invention. As shown in fig. 3, after S103 is executed, the method further includes:
s301: the client adds a plurality of characteristic points on the image acquired in real time and determines real-time characteristic point coordinates of the characteristic points.
S302: and the client generates a real-time user position on a preset map according to the real-time feature point coordinates.
S303: and the client generates a user moving route on a preset map according to the current user position and the real-time user position and displays the user moving route to the user.
Wherein, the client can be shown to the client through AR, and navigation is completed by slam algorithm and sensor at the client. AR (Augmented Reality) is a technology for skillfully fusing virtual information and a real world, and a plurality of technical means such as multimedia, three-dimensional modeling, real-time tracking and registration, intelligent interaction, sensing and the like are widely applied, and virtual information such as characters, images, three-dimensional models, music, videos and the like generated by a system is applied to the real world after analog simulation, and the two kinds of information complement each other, so that the real world is enhanced.
The specific process of the embodiment of the invention is as follows:
1. the client adds a plurality of feature points on the pre-acquired current image.
2. The client extracts the characteristic points of the front frame image and the rear frame image through an SLAM algorithm to be matched so as to determine the posture and the space position of the image acquisition device (relative to the surrounding world coordinates).
3. The client determines two-dimensional coordinates of a plurality of feature points in the current image.
4. The client determines the coordinates of the current characteristic points according to the posture, the space position and the two-dimensional coordinates of the image acquisition device, and sends the coordinates of the current characteristic points and the current images added with the plurality of characteristic points to the server.
5. The server side optimizes the current image, and compares the optimized current image with the historical map through an SLAM algorithm.
6. And the server side adjusts the historical characteristic point coordinates of a plurality of characteristic points on the historical map according to the comparison result of the optimized current image and the historical map, and compares the adjusted historical characteristic point coordinates with the current characteristic point coordinates.
7. And the server side adjusts the current feature point coordinate according to the comparison result of the integrated historical feature point coordinate and the current feature point coordinate, sends the adjusted current feature point coordinate to the client side, and updates the historical map according to the adjusted current feature point coordinate.
8. And the client generates the current user position on a preset map according to the adjusted current feature point coordinate and displays the current user position to the user through the AR.
9. The client adds a plurality of characteristic points on the image acquired in real time and determines real-time characteristic point coordinates of the characteristic points.
10. And the client generates a real-time user position on a preset map according to the real-time feature point coordinates, generates a user moving route on the preset map according to the current user position and the real-time user position, and displays the user moving route to the user through the AR.
To sum up, the client of the user positioning method according to the embodiment of the present invention first adds a plurality of feature points to a current image obtained in advance and determines current feature point coordinates of the plurality of feature points, the server then adjusts the current feature point coordinates according to the historical map and the current image, and the client finally generates a current user position on a preset map according to the adjusted current feature point coordinates and displays the current user position to the user, so as to accurately position the user and save a large amount of manpower and material resources.
Based on the same inventive concept, the embodiment of the invention also provides a user positioning system, and as the principle of solving the problems of the system is similar to the user positioning method, the implementation of the system can refer to the implementation of the method, and repeated parts are not described again.
Fig. 4 is a block diagram of a user positioning system according to an embodiment of the present invention. As shown in fig. 4, the user positioning system includes:
the client is used for adding a plurality of characteristic points on a pre-acquired current image, determining current characteristic point coordinates of the characteristic points, and sending the current characteristic point coordinates and the current image added with the characteristic points to the server; generating a current user position on a preset map according to the adjusted current feature point coordinates and displaying the current user position to a user;
and the server is used for adjusting the current characteristic point coordinate according to the historical map and the current image and sending the adjusted current characteristic point coordinate to the client.
In one embodiment, the server is specifically configured to:
comparing the current image with a historical map, and adjusting historical characteristic point coordinates of a plurality of characteristic points on the historical map according to a comparison result;
and comparing the adjusted historical characteristic point coordinates with the current characteristic point coordinates, and adjusting the current characteristic point coordinates according to the comparison result.
In one embodiment, the server is further configured to:
and updating the historical map according to the adjusted current feature point coordinates.
In one embodiment, the client is specifically configured to:
determining the posture and the spatial position of the image acquisition device according to the current image;
determining two-dimensional coordinates of a plurality of characteristic points in a current image;
and determining the coordinates of the current characteristic points according to the posture, the space position and the two-dimensional coordinates of the image acquisition device.
In one embodiment, the client is further configured to:
adding a plurality of characteristic points on the image acquired in real time and determining real-time characteristic point coordinates of the characteristic points;
generating a real-time user position on a preset map according to the real-time feature point coordinates;
and generating a user moving route on a preset map according to the current user position and the real-time user position, and displaying the user moving route to the user.
To sum up, the client of the user positioning system in the embodiment of the present invention first adds a plurality of feature points to a current image obtained in advance and determines current feature point coordinates of the plurality of feature points, the server then adjusts the current feature point coordinates according to the historical map and the current image, and the client finally generates a current user position on a preset map according to the adjusted current feature point coordinates and displays the current user position to the user, so as to accurately position the user and save a large amount of manpower and material resources.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Those of skill in the art will further appreciate that the various illustrative logical blocks, units, and steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both. To clearly illustrate the interchangeability of hardware and software, various illustrative components, elements, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design requirements of the overall system. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present embodiments.
The various illustrative logical blocks, or elements, or devices described in connection with the embodiments disclosed herein may be implemented or performed with a general purpose processor, a digital signal processor, an Application Specific Integrated Circuit (ASIC), a field programmable gate array or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general-purpose processor may be a microprocessor, but in the alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. A processor may also be implemented as a combination of computing devices, e.g., a digital signal processor and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a digital signal processor core, or any other similar configuration.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may be stored in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. For example, a storage medium may be coupled to the processor such the processor can read information from, and write information to, the storage medium. In the alternative, the storage medium may be integral to the processor. The processor and the storage medium may reside in an ASIC, which may be located in a user terminal. In the alternative, the processor and the storage medium may reside in different components in a user terminal.
In one or more exemplary designs, the functions described above in connection with the embodiments of the invention may be implemented in hardware, software, firmware, or any combination of the three. If implemented in software, the functions may be stored on or transmitted over as one or more instructions or code on a computer-readable medium. Computer-readable media includes both computer storage media and communication media that facilitate transfer of a computer program from one place to another. Storage media may be any available media that can be accessed by a general purpose or special purpose computer. For example, such computer-readable media can include, but is not limited to, RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to carry or store program code in the form of instructions or data structures and which can be read by a general-purpose or special-purpose computer, or a general-purpose or special-purpose processor. Additionally, any connection is properly termed a computer-readable medium, and, thus, is included if the software is transmitted from a website, server, or other remote source via a coaxial cable, fiber optic cable, twisted pair, Digital Subscriber Line (DSL), or wirelessly, e.g., infrared, radio, and microwave. Such discs (disk) and disks (disc) include compact disks, laser disks, optical disks, DVDs, floppy disks and blu-ray disks where disks usually reproduce data magnetically, while disks usually reproduce data optically with lasers. Combinations of the above may also be included in the computer-readable medium.
Claims (8)
1. A method for locating a user, comprising:
the client adds a plurality of characteristic points on a pre-acquired current image, determines current characteristic point coordinates of the characteristic points, and sends the current characteristic point coordinates and the current image added with the characteristic points to a server;
the server side adjusts the current feature point coordinate according to the historical map and the current image, and sends the adjusted current feature point coordinate to the client side;
the client generates a current user position on a preset map according to the adjusted current feature point coordinate and displays the current user position to the user;
the server side adjusting the current feature point coordinate comprises the following steps:
the server compares the current image with the historical map, and adjusts historical characteristic point coordinates of a plurality of characteristic points on the historical map according to a comparison result;
and the server compares the adjusted historical characteristic point coordinates with the current characteristic point coordinates, and adjusts the current characteristic point coordinates according to a comparison result.
2. The user positioning method according to claim 1, further comprising:
and the server side updates the historical map according to the adjusted current feature point coordinates.
3. The user positioning method according to claim 1, wherein the client determining the current feature point coordinates of the plurality of feature points comprises:
the client determines the posture and the spatial position of the image acquisition device according to the current image;
the client determines two-dimensional coordinates of the plurality of feature points in the current image;
and the client determines the current feature point coordinate according to the posture of the image acquisition device, the space position and the two-dimensional coordinate.
4. The user positioning method according to claim 1, further comprising:
the client adds a plurality of characteristic points on the image acquired in real time and determines real-time characteristic point coordinates of the characteristic points;
the client generates a real-time user position on the preset map according to the real-time feature point coordinates;
and the client generates a user moving route on the preset map according to the current user position and the real-time user position and displays the user moving route to the user.
5. A user location system, comprising:
the client is used for adding a plurality of characteristic points on a pre-acquired current image, determining current characteristic point coordinates of the characteristic points, and sending the current characteristic point coordinates and the current image added with the characteristic points to the server; generating a current user position on a preset map according to the adjusted current feature point coordinates and displaying the current user position to a user;
the server is used for adjusting the current characteristic point coordinate according to the historical map and the current image and sending the adjusted current characteristic point coordinate to the client;
the server is specifically configured to:
comparing the current image with the historical map, and adjusting historical characteristic point coordinates of a plurality of characteristic points on the historical map according to a comparison result;
and comparing the adjusted historical feature point coordinates with the current feature point coordinates, and adjusting the current feature point coordinates according to a comparison result.
6. The subscriber location system of claim 5, wherein the server is further configured to:
and updating the historical map according to the adjusted current feature point coordinates.
7. The user positioning system according to claim 5, wherein the client is specifically configured to:
determining the posture and the spatial position of the image acquisition device according to the current image;
determining two-dimensional coordinates of the plurality of feature points in the current image;
and determining the current feature point coordinate according to the posture of the image acquisition device, the space position and the two-dimensional coordinate.
8. The user location system of claim 5, wherein the client is further configured to:
adding a plurality of characteristic points on the image acquired in real time and determining real-time characteristic point coordinates of the characteristic points;
generating a real-time user position on the preset map according to the real-time feature point coordinates;
and generating a user moving route on the preset map according to the current user position and the real-time user position, and displaying the user moving route to the user.
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Effective date of registration: 20220920 Address after: 25 Financial Street, Xicheng District, Beijing 100033 Patentee after: CHINA CONSTRUCTION BANK Corp. Address before: 25 Financial Street, Xicheng District, Beijing 100033 Patentee before: CHINA CONSTRUCTION BANK Corp. Patentee before: Jianxin Financial Science and Technology Co.,Ltd. |