CN111881824A - Indoor map acquisition method and system based on image recognition - Google Patents
Indoor map acquisition method and system based on image recognition Download PDFInfo
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- 238000007781 pre-processing Methods 0.000 claims description 16
- 238000004590 computer program Methods 0.000 claims description 5
- 238000013507 mapping Methods 0.000 abstract description 4
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- 238000005259 measurement Methods 0.000 description 1
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- 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
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects
- G06V20/54—Surveillance or monitoring of activities, e.g. for recognising suspicious objects of traffic, e.g. cars on the road, trains or boats
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Abstract
The invention discloses an indoor map acquisition method and system based on image recognition, wherein the method comprises the following steps: acquiring scene images shot by a camera at different indoor shooting positions aiming at indoor specific image identification, and identifying the target shape of the specific image identification in the scene images; calculating a path distance between corresponding shooting positions or a path distance from a shooting position to the corresponding specific image identifier based on the target shape of the specific image identifier in the scene image; and automatically generating all map primitive data in the system by taking the path distance as a unit. Based on the condition of low requirement on the indoor map precision, the invention can automatically record the intersection path data information by the computer image identification technology without manual point-by-point line-by-line mapping and manual drawing editing, and has small workload and high reliability.
Description
Technical Field
The invention relates to the technical field of map acquisition, in particular to an indoor map acquisition method and system based on image recognition.
Background
At present, a professional surveying instrument is generally adopted for collecting indoor maps, and the paths cannot be automatically recorded through the driving tracks because the indoor maps do not have GPS positioning conditions.
Therefore, the current indoor map acquisition mainly comprises manual point-by-point line-by-line mapping and recording, the workload is very large, and errors are easy to occur.
Disclosure of Invention
Therefore, the embodiment of the invention provides an indoor map acquisition method and system based on image recognition, so as to solve the problems in the prior art.
In order to achieve the above object, an embodiment of the present invention provides the following:
the invention provides an indoor map acquisition method based on image recognition, which comprises the following steps:
acquiring scene images shot by a camera at different indoor shooting positions aiming at indoor specific image identification, and identifying the target shape of the specific image identification in the scene images;
calculating a path distance between corresponding shooting positions or a path distance from a shooting position to the corresponding specific image identifier based on the target shape of the specific image identifier in the scene image;
and automatically generating all map primitive data in the system by taking the path distance as a unit.
Optionally, the map primitive data is a distance between all adjacent two shooting positions, or a distance from all shooting positions to the specific image identifier.
Optionally, the acquiring the scene image shot by the camera at different indoor shooting positions for the indoor specific image identifier further includes a preprocessing step, including:
manually making the specific image identifier in advance, and calibrating the camera;
the pretreatment step is a step of manual pretreatment.
Optionally, the preprocessing step further includes: the method comprises the steps of forming a road with a plurality of intersections indoors, fixing a specific image identifier at one end of the road indoors, shooting scene images at different intersections on the road to obtain the scene images, and obtaining map primitive data as the distance from all shooting positions to the specific image identifier.
Optionally, the preprocessing step further includes: the method comprises the steps that a road with a plurality of intersections is formed indoors, when scene images are shot, the specific image identification and the shooting positions are respectively fixed at any two adjacent intersections, and map primitive data are distances between all two adjacent shooting positions.
Optionally, in the step, based on the target shape of the specific image identifier in the scene image, a path distance between corresponding shooting positions is calculated, or in the path distance from a shooting position to the corresponding specific image identifier, all the acquired scene images are imported into a computer for automatic identification and recognition, and the path distance is calculated according to an image algorithm.
Optionally, the map primitive data is intersection and road layer data automatically generated by a computer program according to the azimuth data and the distance data, so as to finish drawing;
the specific image is marked as a plastic plate with the size of 60cm by 60cm, black and white grid pictures are pasted on the surface of the plastic plate, the number of the grids is 3 by 3, and each small grid is 20cm by 20 cm.
Optionally, the step of calculating a path distance between corresponding shooting positions based on the target shape identified by the specific image in the scene image, or a path distance from a shooting position to the corresponding specific image identifier, further includes an image preprocessing step, including:
carrying out enhancement processing and noise reduction processing on the scene image;
and after the image preprocessing step, if the computer cannot identify the specific image identifier, reminding and displaying a rephotograph mark.
The invention also provides an indoor map acquisition device based on image recognition, which comprises:
the system comprises an acquisition unit, a processing unit and a display unit, wherein the acquisition unit is used for acquiring scene images shot by a camera at different indoor shooting positions aiming at indoor specific image identifiers and identifying the target shapes of the specific image identifiers in the scene images;
the processing unit is used for calculating the path distance between the corresponding shooting positions or the path distance from the shooting positions to the corresponding specific image identifications based on the target shapes of the specific image identifications in the scene images;
and the execution unit is used for automatically generating all map primitive data in the system by taking the path distance as a unit.
Optionally, the method further includes:
an image processing unit configured to:
carrying out enhancement processing and noise reduction processing on the scene image;
and after image preprocessing, if the computer cannot identify the specific image identifier, reminding and displaying a rephotograph mark.
The invention has the following advantages:
based on the condition of low requirement on the indoor map precision, the invention can automatically record the intersection path data information by the computer image identification technology without manual point-by-point line-by-line mapping and manual drawing editing, and has small workload and high reliability.
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 or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.
FIG. 1 is a flow chart of a method provided by the present invention.
Detailed Description
The present invention is described in terms of particular embodiments, other advantages and features of the invention will become apparent to those skilled in the art from the following disclosure, and it is to be understood that the described embodiments are merely exemplary of the invention and that it is not intended to limit the invention to the particular embodiments disclosed. 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 shown in fig. 1, the present invention provides an indoor map collecting method based on image recognition, which includes the following steps:
step 100, manually preprocessing, namely firstly making the specific image identifier and calibrating a camera;
based on a computer, acquiring scene images shot by a camera at different indoor shooting positions aiming at indoor specific image identification, and identifying the target shape of the specific image identification in the scene images;
step 200, calculating a path distance between corresponding shooting positions based on the target shape of the specific image identifier in the scene image, or calculating a path distance from a shooting position to the corresponding specific image identifier; importing all the acquired scene images into a computer for automatic identification and recognition, and calculating the path distance according to an image algorithm;
step 300, automatically generating all map primitive data in the system by taking the path distance as a unit; the map primitive data is that intersection and road layer data are automatically generated through a computer program according to the azimuth data and the distance data, and the map is drawn.
Wherein, the system is a computer system; the specific image is marked as a plastic plate with 60cm by 60cm, black and white grid pictures are pasted on the surface of the plastic plate, the grid is 3 by 3, and each small grid is 20cm by 20 cm.
The map primitive data is the distance between all adjacent two shooting positions, or the distance from all the shooting positions to the specific image identifier. The following description is given for two primitive data types:
the first method comprises the following steps: the map primitive data is the distance between all adjacent two shooting positions.
The method comprises the steps that a road with a plurality of intersections is formed indoors, when scene images are shot, the specific image identification and the shooting positions are respectively fixed at any two adjacent intersections, and map primitive data are distances between all two adjacent shooting positions.
Secondly, the map primitive data is the distance from all shooting positions to the specific image identifier.
The method comprises the steps of forming a road with a plurality of intersections indoors, fixing a specific image identifier at one end of the road indoors, shooting scene images at different intersections on the road to obtain the scene images, and obtaining map primitive data as the distance from all shooting positions to the specific image identifier.
Step 200 also comprises an image preprocessing step, namely, performing enhancement processing and noise reduction processing on the scene image; and after the image preprocessing step, if the computer cannot identify the specific image identifier, reminding and displaying a rephotograph mark.
One specific embodiment of the invention is provided below:
firstly, making a specific image identifier, calibrating a camera to improve the measurement precision, collecting a map on site by two persons, standing a camera at one intersection, standing a marking board at the next intersection, wherein the two intersections are in a communicating relationship (can pass through), the marking board held by the B is vertical to the ground and is opposite to the camera, taking a picture by the A, recording the serial number and the direction of the intersections, sequentially finishing the shooting of each intersection, guiding the picture into a computer, automatically identifying and identifying the marks by the computer, calculating the distance between the two intersections according to an image algorithm, and automatically generating intersection and road layer data by a computer program based on the direction data and the distance data to finish drawing.
According to the method, the camera is used for shooting the field picture, the computer program is used for automatically identifying and calculating, the map primitive data are automatically generated, the working efficiency can be greatly improved, and the investment cost is reduced.
Based on the condition of low requirement on the indoor map precision, the invention can automatically record the intersection path data information by the computer image identification technology without manual point-by-point line-by-line mapping and manual drawing editing, and has small workload and high reliability.
Through statistical analysis, the indoor map collection efficiency can be improved by 4-5 times after the method is applied, and the reliability is improved by more than 50% compared with the traditional method because the automation degree is high and the manual intervention is reduced. The method and the device are clear in scheme and simple and convenient to operate, and related enterprises can improve the existing indoor map acquisition mode only with little investment on the existing basis, so that the working efficiency is improved.
The invention also provides an indoor map acquisition device based on image recognition, which comprises:
the system comprises a collecting unit, a processing unit and a processing unit, wherein the collecting unit is used for acquiring scene images shot by a camera at different indoor shooting positions aiming at indoor specific image identification and identifying the target shape of the specific image identification in the scene images.
And the processing unit is used for calculating the path distance between the corresponding shooting positions or the path distance from the shooting positions to the corresponding specific image identifications based on the target shapes of the specific image identifications in the scene images.
And the execution unit is used for automatically generating all map primitive data in the system by taking the path distance as a unit.
An image processing unit configured to:
carrying out enhancement processing and noise reduction processing on the scene image; and after image preprocessing, if the computer cannot identify the specific image identifier, reminding and displaying a rephotograph mark.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (10)
1. An indoor map acquisition method based on image recognition is characterized by comprising the following steps:
acquiring scene images shot by a camera at different indoor shooting positions aiming at indoor specific image identification, and identifying the target shape of the specific image identification in the scene images;
calculating a path distance between corresponding shooting positions or a path distance from a shooting position to the corresponding specific image identifier based on the target shape of the specific image identifier in the scene image;
and automatically generating all map primitive data in the system by taking the path distance as a unit.
2. An image recognition-based indoor map collecting method according to claim 1, wherein the map primitive data is a distance between all adjacent two shooting positions, or a distance from all shooting positions to the specific image identifier.
3. The method as claimed in claim 2, wherein the acquiring of the scene image shot by the camera at different indoor shooting positions for the specific indoor image identifier further comprises a preprocessing step, including:
manually making the specific image identifier in advance, and calibrating the camera;
the pretreatment step is a step of manual pretreatment.
4. The image recognition-based indoor map collecting method according to claim 3, wherein the preprocessing step further comprises: the method comprises the steps of forming a road with a plurality of intersections indoors, fixing a specific image identifier at one end of the road indoors, shooting scene images at different intersections on the road to obtain the scene images, and obtaining map primitive data as the distance from all shooting positions to the specific image identifier.
5. The image recognition-based indoor map collecting method according to claim 2, wherein the preprocessing step further comprises: the method comprises the steps that a road with a plurality of intersections is formed indoors, when scene images are shot, the specific image identification and the shooting positions are respectively fixed at any two adjacent intersections, and map primitive data are distances between all two adjacent shooting positions.
6. The method as claimed in claim 1, wherein the step of calculating a path distance between corresponding shooting positions based on the target shape of the specific image identifier in the scene image, or calculating the path distance from a shooting position to the corresponding specific image identifier, and the step of automatically identifying and recognizing all the acquired scene images by a computer and calculating the path distance according to an image algorithm.
7. The image recognition-based indoor map collection method according to claim 6, wherein map primitive data is automatically generated by a computer program according to azimuth data and distance data to finish drawing;
the specific image is marked as a plastic plate with the size of 60cm by 60cm, black and white grid pictures are pasted on the surface of the plastic plate, the number of the grids is 3 by 3, and each small grid is 20cm by 20 cm.
8. The method for acquiring the indoor map based on the image recognition as claimed in claim 1, wherein the step of calculating the path distance between the corresponding shooting positions or the path distance from the shooting position to the corresponding specific image identifier based on the object shape of the specific image identifier in the scene image further comprises an image preprocessing step comprising:
carrying out enhancement processing and noise reduction processing on the scene image;
and after the image preprocessing step, if the computer cannot identify the specific image identifier, reminding and displaying a rephotograph mark.
9. An indoor map acquisition system based on image recognition is characterized by comprising:
the system comprises an acquisition unit, a processing unit and a display unit, wherein the acquisition unit is used for acquiring scene images shot by a camera at different indoor shooting positions aiming at indoor specific image identifiers and identifying the target shapes of the specific image identifiers in the scene images;
the processing unit is used for calculating the path distance between the corresponding shooting positions or the path distance from the shooting positions to the corresponding specific image identifications based on the target shapes of the specific image identifications in the scene images;
and the execution unit is used for automatically generating all map primitive data in the system by taking the path distance as a unit.
10. An image recognition based indoor map acquisition system according to claim 9, further comprising:
an image processing unit configured to:
carrying out enhancement processing and noise reduction processing on the scene image;
and after image preprocessing, if the computer cannot identify the specific image identifier, reminding and displaying a rephotograph mark.
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