CN111765890B - Navigation method of indoor navigation system based on cloud image recognition and AR - Google Patents
Navigation method of indoor navigation system based on cloud image recognition and AR Download PDFInfo
- Publication number
- CN111765890B CN111765890B CN202010596619.9A CN202010596619A CN111765890B CN 111765890 B CN111765890 B CN 111765890B CN 202010596619 A CN202010596619 A CN 202010596619A CN 111765890 B CN111765890 B CN 111765890B
- Authority
- CN
- China
- Prior art keywords
- navigation
- module
- mobile phone
- glasses
- cloud
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- 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
-
- 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
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Computer Graphics (AREA)
- Computer Hardware Design (AREA)
- Software Systems (AREA)
- Human Computer Interaction (AREA)
- Automation & Control Theory (AREA)
- Navigation (AREA)
Abstract
The invention aims to provide a navigation method of an indoor navigation system based on cloud image recognition and AR. The device comprises a cloud processing module and an AR (augmented reality) glasses module, wherein the AR glasses module comprises a communication module, an image acquisition module, a display module, a processing module and a charging module matched with the processing module, the image acquisition module is used for acquiring surrounding environments of glasses, the processing module is used for processing and uploading acquired images and receiving virtual imaging of cloud navigation commands, the display module is used for realizing AR virtual navigation indication, the cloud processing module is arranged in a mobile phone, communication is carried out between the AR glasses and the mobile phone, and the cloud processing module is used for realizing image identification and visual positioning.
Description
Technical Field
The invention relates to a navigation method of an indoor navigation system based on cloud image recognition and AR, and belongs to the technical fields of hardware manufacturing, software development and cloud platform development.
Background
At present, the outdoor navigation technology is mature, so that not only can routes be abundant, but also the routes can be intelligently recommended according to vehicles, but with the increase of large-scale buildings, a navigation system capable of being used indoors is also needed. Because of the multi-story building, an effective indoor navigation route cannot be provided, and the destination position cannot be correctly positioned by means of only one layer of layer or deflection information, so that a navigation technology capable of helping people to use indoors is particularly needed.
Disclosure of Invention
In order to help a user to navigate a route indoors, including steering and going upstairs and downstairs, the invention aims to provide an indoor navigation system and a navigation algorithm based on cloud image recognition and AR.
The invention aims to achieve the aim, and the aim is achieved by the following technical scheme:
the utility model provides an indoor navigation based on high in clouds image recognition and AR, including high in clouds processing module and AR glasses module, AR glasses module includes communication module, image acquisition module, display module, processing module and rather than supporting module that charges, 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 clouds navigation command, display module is used for realizing the virtual navigation instruction of AR, high in clouds processing module sets up in the cell-phone, communicate between AR glasses and the cell-phone, high in clouds processing module is used for realizing image recognition and vision location.
According to 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, a child node taking method is changed from a position close to an initial node to a position shot by a mobile phone, and each node in a camera view angle range is selected;
s2, two ends of the escalator become special nodes, and the special nodes are represented as layered nodes;
s3, re-planning is carried out according to the current position and the view angle of the mobile phone during navigation until the navigation point is near.
The navigation algorithm of the indoor navigation system based on cloud image recognition and AR is preferably designed, and the navigation pseudo code production process is as follows:
establishing a data list A with only initial nodes, and adding the initial nodes into an OPEN table and a CLOSE table;
after the mobile phone starts to move, adding a node in the view angle of the camera of the mobile phone into an OPEN table, finding out the nearest node CLOSE to the target point for virtual navigation, and adding the node into a CLOSE table;
if the navigation is needed to pass through the escalator, the navigation is continued after the navigation reaches the other end of the escalator; if the target node appears in the view angle, displaying an AR pointing direction at the target node;
the above-mentioned nodes are partitioned according to different building styles and structures so as to find nodes adjacent to the target point in the view angle, and the above-mentioned escalator function is not compatible with the elevator, because the elevator cannot directly determine the number of floors when leaving the elevator, and needs to be relocated.
The invention has the advantages that:
1. image recognition, positioning and navigation instruction issuing are carried out by using a cloud, so that the configuration of the entity glasses is effectively reduced, and the power consumption problem and the heating problem are reduced;
2. the 5G and WIF modules are used and can be switched freely, so that the stability of network communication is enhanced;
3. the AR is used for navigation, so that route guidance can be efficiently performed, the use difficulty and the required understanding degree are reduced, and the user experience is improved;
4. the mobile phone navigation system is convenient to use, after cloud data processing is completed, a user can start to use through mobile phone registration, and the user can navigate after wearing the glasses.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention.
Fig. 1 is a schematic block diagram of an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The utility model provides an indoor navigation based on high in clouds image recognition and AR, including high in clouds processing module and AR glasses module, AR glasses module includes communication module, image acquisition module, display module, processing module and rather than supporting module that charges, 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 clouds navigation command, display module is used for realizing the virtual navigation instruction of AR, high in clouds processing module sets up in the cell-phone, communicate between AR glasses and the cell-phone, high in clouds processing module is used for realizing image recognition and vision location.
According to 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, a child node taking method is changed from a position close to an initial node to a position shot by a mobile phone, and each node in a camera view angle range is selected;
s2, two ends of the escalator become special nodes, and the special nodes are represented as layered nodes;
s3, re-planning is carried out according to the current position and the view angle of the mobile phone during navigation until the navigation point is near.
The navigation algorithm of the indoor navigation system based on cloud image recognition and AR is preferably designed, and the navigation pseudo code production process is as follows:
establishing a data list A with only initial nodes, and adding the initial nodes into an OPEN table and a CLOSE table;
after the mobile phone starts to move, adding a node in the view angle of the camera of the mobile phone into an OPEN table, finding out the nearest node CLOSE to the target point for virtual navigation, and adding the node into a CLOSE table;
if the navigation is needed to pass through the escalator, the navigation is continued after the navigation reaches the other end of the escalator; if the target node appears in the view angle, displaying an AR pointing direction at the target node;
the above-mentioned nodes are partitioned according to different building styles and structures so as to find nodes adjacent to the target point in the view angle, and the above-mentioned escalator function is not compatible with the elevator, because the elevator cannot directly determine the number of floors when leaving the elevator, and needs to be relocated.
The navigation algorithm provided by the invention is suitable for indoor navigation, not only saves the calculation power, but also can be more conveniently combined with AR for navigation.
Finally, it should be noted that: the foregoing description is only a preferred embodiment of the present invention, and the present invention is not limited thereto, but it is to be understood that modifications and equivalents of some of the technical features described in the foregoing embodiments may be made by those skilled in the art, although the present invention has been described in detail with reference to the foregoing embodiments. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (1)
1. A navigation method of an indoor navigation system based on cloud image recognition and AR is characterized by comprising the following steps: the indoor navigation system for the cloud image recognition and the AR comprises a cloud processing module and an AR glasses module, wherein the AR glasses module comprises a communication module, an image acquisition module, a display module, a processing module and a charging module matched with the communication module, the image acquisition module is used for acquiring the surrounding environment of the glasses, the processing module is used for processing and uploading acquired images and receiving virtual imaging of a cloud navigation command, the display module is used for realizing AR virtual navigation indication, the cloud processing module is arranged in a mobile phone, the AR glasses and the mobile phone are communicated, the cloud processing module is used for realizing image recognition and visual positioning, and the mobile phone and the AR glasses module are in wireless communication through 5G and WIFI;
the navigation method comprises the following steps:
s1, a child node taking method is changed from a position close to an initial node to a position shot by a mobile phone, and each node in a camera view angle range is selected;
s2, two ends of the escalator become special nodes, and the special nodes are represented as layered nodes;
s3, re-planning is carried out according to the current position and the view angle of the mobile phone during navigation until the navigation point is near;
the navigation pseudo code production process is as follows:
establishing a data list A with only initial nodes, and adding the initial nodes into an OPEN table and a CLOSE table;
after the mobile phone starts to move, adding a node in the view angle of the camera of the mobile phone into an OPEN table, finding out the nearest node CLOSE to the target point for virtual navigation, and adding the node into a CLOSE table;
if the navigation is needed to pass through the escalator, the navigation is continued after the navigation reaches the other end of the escalator; if the target node appears in the view angle, displaying an AR pointing direction at the target node;
the above-mentioned nodes are partitioned according to different building styles and structures so as to find nodes adjacent to the target point in the view angle, and the above-mentioned escalator function is not compatible with the elevator, because the elevator cannot directly determine the number of floors when leaving the elevator, and needs to be relocated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010596619.9A CN111765890B (en) | 2020-06-28 | 2020-06-28 | Navigation method of indoor navigation system based on cloud image recognition and AR |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010596619.9A CN111765890B (en) | 2020-06-28 | 2020-06-28 | Navigation method of indoor navigation system based on cloud image recognition and AR |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111765890A CN111765890A (en) | 2020-10-13 |
| CN111765890B true CN111765890B (en) | 2023-08-15 |
Family
ID=72722477
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010596619.9A Active CN111765890B (en) | 2020-06-28 | 2020-06-28 | Navigation method of indoor navigation system based on cloud image recognition and AR |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111765890B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104280028A (en) * | 2014-06-04 | 2015-01-14 | 上海赛图计算机科技有限公司 | Realizing method for computing part involving path crossing floors based on indoor map path |
| CN107449426A (en) * | 2017-07-14 | 2017-12-08 | 厦门市礼小签电子科技有限公司 | Path search algorithm and navigational logic method and its indoor AR navigation system |
| CN107816992A (en) * | 2017-08-28 | 2018-03-20 | 深圳市赛亿科技开发有限公司 | A kind of indoor orientation method and system based on AR glasses |
| CN109976690A (en) * | 2019-03-27 | 2019-07-05 | 优奈柯恩(北京)科技有限公司 | AR glasses remote interaction method, device and computer-readable medium |
| CN111028358A (en) * | 2018-10-09 | 2020-04-17 | 香港理工大学深圳研究院 | Augmented reality display method and device for indoor environment and terminal equipment |
| CN111065891A (en) * | 2018-08-16 | 2020-04-24 | 北京嘀嘀无限科技发展有限公司 | Indoor navigation system based on augmented reality |
| CN111123198A (en) * | 2019-12-30 | 2020-05-08 | 华中科技大学 | User positioning and navigation method and system in building |
| CN111157009A (en) * | 2020-04-02 | 2020-05-15 | 深圳司南数据服务有限公司 | Indoor positioning navigation creating method and system based on mobile terminal and AR (augmented reality) intelligence |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10030979B2 (en) * | 2016-07-29 | 2018-07-24 | Matterport, Inc. | Determining and/or generating a navigation path through a captured three-dimensional model rendered on a device |
-
2020
- 2020-06-28 CN CN202010596619.9A patent/CN111765890B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104280028A (en) * | 2014-06-04 | 2015-01-14 | 上海赛图计算机科技有限公司 | Realizing method for computing part involving path crossing floors based on indoor map path |
| CN107449426A (en) * | 2017-07-14 | 2017-12-08 | 厦门市礼小签电子科技有限公司 | Path search algorithm and navigational logic method and its indoor AR navigation system |
| CN107816992A (en) * | 2017-08-28 | 2018-03-20 | 深圳市赛亿科技开发有限公司 | A kind of indoor orientation method and system based on AR glasses |
| CN111065891A (en) * | 2018-08-16 | 2020-04-24 | 北京嘀嘀无限科技发展有限公司 | Indoor navigation system based on augmented reality |
| CN111028358A (en) * | 2018-10-09 | 2020-04-17 | 香港理工大学深圳研究院 | Augmented reality display method and device for indoor environment and terminal equipment |
| CN109976690A (en) * | 2019-03-27 | 2019-07-05 | 优奈柯恩(北京)科技有限公司 | AR glasses remote interaction method, device and computer-readable medium |
| CN111123198A (en) * | 2019-12-30 | 2020-05-08 | 华中科技大学 | User positioning and navigation method and system in building |
| CN111157009A (en) * | 2020-04-02 | 2020-05-15 | 深圳司南数据服务有限公司 | Indoor positioning navigation creating method and system based on mobile terminal and AR (augmented reality) intelligence |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111765890A (en) | 2020-10-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106802658B (en) | Method for rapidly positioning in a kind of full-automatic high precision room | |
| CN105242670A (en) | Robot having function of automatic return charging, system and corresponding method | |
| CN107506391B (en) | Method for extracting CAD drawing information to indoor map | |
| CN104660995A (en) | Disaster relief visual system | |
| CN109118585B (en) | Virtual compound eye camera system meeting space-time consistency for building three-dimensional scene acquisition and working method thereof | |
| CN107450540A (en) | Indoor mobile robot navigation system and method based on infrared road sign | |
| EP3304515A1 (en) | Intuitive way to point, access and control appliances&other objects in building interiors | |
| CN109358754B (en) | Mixed reality head-mounted display system | |
| CN106533480B (en) | A kind of wearable wireless location instruction device | |
| CN107167138A (en) | A kind of intelligent Way guidance system and method in library | |
| CN105676848A (en) | Robot autonomous navigation method based on ROS operating system | |
| CN110225736B (en) | Environmental information collection and feedback system and method for intelligent wheelchair | |
| CN105204054A (en) | Cluster positioning and commanding system | |
| CN110737742A (en) | map platform modeling and personnel track display method and system | |
| CN114501411A (en) | High-precision positioning system and method based on Bluetooth | |
| KR20160105628A (en) | Distance and position measurement method with beacon and acceleration sensor and indoor positioning system using the same | |
| CN108983147A (en) | A kind of indoor locating system and method based on mobile terminal | |
| CN111540013B (en) | Indoor AGV trolley positioning method based on multi-camera visual slam | |
| CN111765890B (en) | Navigation method of indoor navigation system based on cloud image recognition and AR | |
| CN112863090A (en) | Intelligent evacuation and rescue navigation system and method based on fire-fighting emergency lamp positioning | |
| CN104237846A (en) | Autonomous moving object indoor three-dimensional positioning and tracking system and method | |
| CN108731662A (en) | Three-dimensional positioning device and method | |
| CN110544425A (en) | ancient building VR display system | |
| CN107289924A (en) | A kind of map adaptive method for switching based on positional information | |
| CN104133648A (en) | Position-based image display method and device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20230720 Address after: 250000 building S02, No. 1036, Gaoxin Inspur Road, Jinan, Shandong Applicant after: Shandong Inspur Scientific Research Institute Co.,Ltd. Address before: 250104 1st floor, R & D building, No. 2877, Suncun Town, Licheng District, Jinan City, Shandong Province Applicant before: JINAN INSPUR HIGH-TECH TECHNOLOGY DEVELOPMENT Co.,Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |