CN111765890A - Indoor navigation system and navigation algorithm based on cloud image recognition and AR - Google Patents
Indoor navigation system and navigation algorithm based on cloud image recognition and AR Download PDFInfo
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- CN111765890A CN111765890A CN202010596619.9A CN202010596619A CN111765890A CN 111765890 A CN111765890 A CN 111765890A CN 202010596619 A CN202010596619 A CN 202010596619A CN 111765890 A CN111765890 A CN 111765890A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T19/00—Manipulating 3D models or images for computer graphics
- G06T19/006—Mixed reality
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B50/00—Energy efficient technologies in elevators, escalators and moving walkways, e.g. energy saving or recuperation technologies
Abstract
The invention aims to provide an indoor navigation system and a navigation algorithm based on cloud image recognition and AR. It includes high in the clouds processing module and AR glasses module, AR glasses module includes communication module, the image acquisition module, a display module, processing module and rather than supporting module of charging, the image acquisition module is used for gathering glasses surrounding environment, processing module is used for handling the virtual formation of image of uploading and accepting high in the clouds navigation command to the image of gathering, display module is used for realizing the virtual navigation instruction of AR, high in the clouds processing module sets up in the cell-phone, communicate between AR glasses and the cell-phone, high in the clouds processing module is used for realizing image identification and visual positioning.
Description
Technical Field
The invention relates to an indoor navigation system and a navigation algorithm based on cloud image recognition and AR, and belongs to the technical field of hardware manufacturing, software development and cloud platform development.
Background
The outdoor navigation technology is mature at present, not only is the route rich, but also the route can be intelligently recommended according to vehicles, but with the increase of large buildings, a navigation system which can be used indoors is also needed. Because of the multi-story building, an effective indoor navigation route cannot be provided, and the position of the destination cannot be correctly positioned by means of one story number or deviation information, so that a navigation technology which can help people to use indoors is particularly needed.
Disclosure of Invention
In order to help a user to carry out route navigation indoors, including steering and going upstairs and downstairs guiding, the invention aims to provide an indoor navigation system and a navigation algorithm based on cloud image recognition and AR.
In order to achieve the purpose, the invention is realized by the following technical scheme:
the utility model provides an indoor navigation based on high in clouds image recognition and AR, including high in the clouds processing module and AR glasses module, AR glasses module includes communication module, the image acquisition module, a display module, processing module and rather than supporting module of charging, the image acquisition module is used for gathering glasses surrounding environment, processing module is used for handling the image of gathering and uploads and accept the virtual formation of image of high in the clouds navigation order, display module is used for realizing the virtual navigation instruction of AR, high in the clouds processing module sets up in the cell-phone, communicate between AR glasses and the cell-phone, high in the clouds processing module is used for realizing image recognition and visual positioning.
According to the preferable scheme of the indoor navigation system, the mobile phone and the AR glasses module are in wireless communication through 5G and WIFI.
A navigation algorithm of an indoor navigation system based on cloud image recognition and AR comprises the following steps:
s1, changing a method for taking a child node from a position close to an initial node to a position for shooting by a mobile phone, and starting at each node in a camera visual angle range;
s2, two ends of the escalator become special nodes which are expressed as layered nodes;
and S3, during navigation, replanning according to the current position and the visual angle of the mobile phone until the mobile phone reaches the position near a navigation point.
According to the optimal navigation algorithm scheme of the indoor navigation system based on cloud image recognition and AR, the production process of the navigation pseudo code is as follows:
establishing a data list A only with an initial node, and adding the initial node into an OPEN table and a CLOSE table;
after the mobile phone is moved, adding nodes in the visual angle of a camera of the mobile phone into an OPEN table, finding out the node closest to a target point for virtual navigation, and adding the node into a CLOSE table;
if the escalator needs to pass through, the navigation is continued after the escalator reaches the other end of the escalator; if the target node appears in the visual angle, displaying the AR pointing direction at the position;
the above-mentioned node can carry out the subregion according to different architectural styles and structure to in finding the node that closes on the target point in the visual angle, above-mentioned escalator function can not be compatible with the elevator, because the number of piles when the elevator can not directly be confirmed to leave the elevator, needs the relocation.
The invention has the advantages that:
1. the cloud is used for image recognition, positioning and issuing navigation instructions, so that the configuration of the entity glasses is effectively reduced, and the problems of power consumption and heating are reduced;
2. the 5G module and the WIF module can be freely switched, so that the stability of network communication is enhanced;
3. the AR is used for navigation, so that the route guidance can be efficiently carried out, the use difficulty and the required understanding degree are reduced, and the user experience is improved;
4. convenient to use, high in the clouds data processing back that finishes, the user registers the registration through the cell-phone and can begin to use, and glasses are worn and can be navigated, need not carry out additionally.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention.
FIG. 1 is a schematic block diagram of 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.
The utility model provides an indoor navigation based on high in clouds image recognition and AR, including high in the clouds processing module and AR glasses module, AR glasses module includes communication module, the image acquisition module, a display module, processing module and rather than supporting module of charging, the image acquisition module is used for gathering glasses surrounding environment, processing module is used for handling the image of gathering and uploads and accept the virtual formation of image of high in the clouds navigation order, display module is used for realizing the virtual navigation instruction of AR, high in the clouds processing module sets up in the cell-phone, communicate between AR glasses and the cell-phone, high in the clouds processing module is used for realizing image recognition and visual positioning.
According to the preferable scheme of the indoor navigation system, the mobile phone and the AR glasses module are in wireless communication through 5G and WIFI.
A navigation algorithm of an indoor navigation system based on cloud image recognition and AR comprises the following steps:
s1, changing a method for taking a child node from a position close to an initial node to a position for shooting by a mobile phone, and starting at each node in a camera visual angle range;
s2, two ends of the escalator become special nodes which are expressed as layered nodes;
and S3, during navigation, replanning according to the current position and the visual angle of the mobile phone until the mobile phone reaches the position near a navigation point.
According to the optimal navigation algorithm scheme of the indoor navigation system based on cloud image recognition and AR, the production process of the navigation pseudo code is as follows:
establishing a data list A only with an initial node, and adding the initial node into an OPEN table and a CLOSE table;
after the mobile phone is moved, adding nodes in the visual angle of a camera of the mobile phone into an OPEN table, finding out the node closest to a target point for virtual navigation, and adding the node into a CLOSE table;
if the escalator needs to pass through, the navigation is continued after the escalator reaches the other end of the escalator; if the target node appears in the visual angle, displaying the AR pointing direction at the position;
the above-mentioned node can carry out the subregion according to different architectural styles and structure to in finding the node that closes on the target point in the visual angle, above-mentioned escalator function can not be compatible with the elevator, because the number of piles when the elevator can not directly be confirmed to leave the elevator, needs the relocation.
The navigation algorithm provided by the invention is suitable for indoor navigation, not only saves the computing power, but also can be more conveniently combined with AR for navigation.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. 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 (4)
1. The utility model provides an indoor navigation based on high in clouds image recognition and AR which characterized in that: including high in the clouds processing module and AR glasses module, AR glasses module includes communication module, image acquisition module, a display module, processing module and rather than supporting module of charging, image acquisition module is used for gathering glasses surrounding environment, processing module is used for handling the virtual formation of uploading and accepting high in the clouds navigation command to the image of gathering, display module is used for realizing the virtual navigation instruction of AR, high in the clouds processing module sets up in the cell-phone, communicate between AR glasses and the cell-phone, high in the clouds processing module is used for realizing image identification and visual positioning.
2. The indoor navigation system of claim 1, wherein: the mobile phone and the AR glasses module are in wireless communication through 5G and WIFI.
3. A navigation algorithm of an indoor navigation system based on cloud image recognition and AR is characterized by comprising the following steps:
s1, changing a method for taking a child node from a position close to an initial node to a position for shooting by a mobile phone, and starting at each node in a camera visual angle range;
s2, two ends of the escalator become special nodes which are expressed as layered nodes;
and S3, during navigation, replanning according to the current position and the visual angle of the mobile phone until the mobile phone reaches the position near a navigation point.
4. The navigation algorithm of the cloud image recognition and AR based indoor navigation system of claim 3, wherein: the navigation pseudo-code production process is as follows:
establishing a data list A only with an initial node, and adding the initial node into an OPEN table and a CLOSE table;
after the mobile phone is moved, adding nodes in the visual angle of a camera of the mobile phone into an OPEN table, finding out the node closest to a target point for virtual navigation, and adding the node into a CLOSE table;
if the escalator needs to pass through, the navigation is continued after the escalator reaches the other end of the escalator; if the target node appears in the visual angle, displaying the AR pointing direction at the position;
the above-mentioned node can carry out the subregion according to different architectural styles and structure to in finding the node that closes on the target point in the visual angle, above-mentioned escalator function can not be compatible with the elevator, because the number of piles when the elevator can not directly be confirmed to leave the elevator, needs the relocation.
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