CN113239137A - Method for fingerprint generation and maintenance of Wi-Fi SLAM - Google Patents
Method for fingerprint generation and maintenance of Wi-Fi SLAM Download PDFInfo
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- CN113239137A CN113239137A CN202110548831.2A CN202110548831A CN113239137A CN 113239137 A CN113239137 A CN 113239137A CN 202110548831 A CN202110548831 A CN 202110548831A CN 113239137 A CN113239137 A CN 113239137A
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- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
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- G06F16/28—Databases characterised by their database models, e.g. relational or object models
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Abstract
A method for generating and maintaining fingerprints of a Wi-Fi SLAM comprises four types of scenes, namely, no image acquisition, image acquisition and image acquisition; generating fingerprint information for a scene without image and acquisition, comprising the following steps A1-A4: a1, obtaining a track meeting the requirements according to the scene, POI information and other necessary characteristics; a2, restoring the track; a3, finding characteristic points in the track; a4, taking the feature point as a certain key point on the reduction track, and aligning the key point and the similar road section by utilizing the similarity between the fingerprints on the track road section to generate a relative fingerprint position topology; and generating fingerprints for scenes with images or without acquisition. The invention establishes a fingerprint database by using an SLAM method for a scene without acquisition; and for the acquired information, maintaining a fingerprint database by using an SLAM method, for the scene without a map, establishing a coordinate system, establishing a road topological relation according to the track, and establishing a fingerprint for each point in the track.
Description
Technical Field
The invention relates to the technical field of positioning and navigation, in particular to a method for fingerprint generation and maintenance of Wi-Fi SLAM.
Background
SLAM (simultaneous localization and mapping), immediate localization and mapping. The SLAM problem can be described as: the robot starts to move from an unknown position in an unknown environment, self-positioning is carried out according to position estimation and a map in the moving process, and meanwhile, an incremental map is built on the basis of self-positioning, so that autonomous positioning and navigation of the robot are realized. The data transmission can be performed by using Wi-Fi technology.
For four types of scenes including no-image acquisition, image acquisition and image acquisition, the conventional SIAM mode is inconvenient for fingerprint generation and maintenance.
Disclosure of Invention
Objects of the invention
In order to solve the technical problems in the background technology, the invention provides a method for fingerprint generation and maintenance by a Wi-Fi SLAM, and for a scene without acquisition, a fingerprint library is established by the SLAM method; and for the acquired information, maintaining a fingerprint database by using an SLAM method, for the scene without a map, establishing a coordinate system, establishing a road topological relation according to the track, and establishing a fingerprint for each point in the track.
(II) technical scheme
The invention provides a method for fingerprint generation and maintenance of Wi-Fi SLAM, which is based on four types of scenes including no image acquisition, image acquisition and image acquisition;
generating fingerprint information for a scene without image and acquisition, comprising the following steps A1-A4:
a1, obtaining a track meeting the requirements according to the scene, POI information and other necessary characteristics;
a2, restoring the track;
a3, finding characteristic points in the track;
a4, taking the feature point as a certain key point on the reduction track, and aligning the key point and the similar road section by utilizing the similarity between the fingerprints on the track road section to generate a relative fingerprint position topology;
for scenes without image acquisition, fingerprint information maintenance is carried out, and the method comprises the following steps B1-B2:
b1, restoring the track returned by the user;
b2, carrying out track clustering on the restored tracks on one hand, carrying out position operation on the restored tracks on the other hand, and determining the coordinate position and the fingerprint corresponding to each step in the tracks according to the two information;
for scenes with images and without acquisition, fingerprint generation is carried out, and the method comprises the following steps C1-C4:
c1, obtaining a track meeting the requirements according to the scene, POI information and other necessary characteristics;
c2, restoring the track;
c3, finding the characteristic points in the track, and determining the coordinates of the characteristic points;
c4, restoring the coordinates of each step in each track by using track clustering information to form a fingerprint;
for scenes with images and acquisition, fingerprint maintenance is carried out, and the method comprises the following steps D1-D2:
d1, restoring the track returned by the user;
and D2, performing track clustering on the restored tracks on one hand, and performing position operation on the restored tracks on the other hand, and determining the coordinate position and the fingerprint corresponding to each step in the tracks according to the two information.
Preferably, the feature points in the trajectory include SSID store feature points, doorway feature points, GPS return feature points, geomagnetic feature points, and stair feature points.
Compared with the prior art, the technical scheme of the invention has the following beneficial technical effects:
the invention establishes a fingerprint database by using an SLAM method for a scene without acquisition; and for the acquired information, maintaining a fingerprint database by using an SLAM method, for the scene without a map, establishing a coordinate system, establishing a road topological relation according to the track, and establishing a fingerprint for each point in the track.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the description is intended to be exemplary only, and is not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
The invention provides a method for fingerprint generation and maintenance of Wi-Fi SLAM, which is based on four types of scenes including no image acquisition, image acquisition and image acquisition;
generating fingerprint information for a scene without image and acquisition, comprising the following steps A1-A4:
a1, obtaining a track meeting requirements according to scenes, POI information and other necessary characteristics, wherein the POI is an abbreviation of Point of Interest and is an Interest Point, and in a geographic information system, one POI can be a house, a shop, a mailbox, a bus station and the like;
a2, restoring the track;
a3, finding characteristic points in the track;
a4, taking the feature point as a certain key point on the reduction track, and aligning the key point and the similar road section by utilizing the similarity between the fingerprints on the track road section to generate a relative fingerprint position topology;
for scenes without image acquisition, fingerprint information maintenance is carried out, and the method comprises the following steps B1-B2:
b1, restoring the track returned by the user;
b2, carrying out track clustering on the restored tracks on one hand, carrying out position operation on the restored tracks on the other hand, and determining the coordinate position and the fingerprint corresponding to each step in the tracks according to the two information;
for scenes with images and without acquisition, fingerprint generation is carried out, and the method comprises the following steps C1-C4:
c1, obtaining a track meeting the requirements according to the scene, POI information and other necessary characteristics;
c2, restoring the track;
c3, finding the characteristic points in the track, and determining the coordinates of the characteristic points;
c4, restoring the coordinates of each step in each track by using track clustering information to form a fingerprint;
for scenes with images and acquisition, fingerprint maintenance is carried out, and the method comprises the following steps D1-D2:
d1, restoring the track returned by the user;
and D2, performing track clustering on the restored tracks on one hand, and performing position operation on the restored tracks on the other hand, and determining the coordinate position and the fingerprint corresponding to each step in the tracks according to the two information. The method is the same as the scene without images and acquisition and is more accurate.
In an optional embodiment, the feature points in the track include SSID store feature points, doorway feature points, GPS return feature points, geomagnetic feature points, and stair feature points, and the feature points are various and more comprehensive.
The invention establishes a fingerprint database by using an SLAM method for a scene without acquisition; and for the acquired information, maintaining a fingerprint database by using an SLAM method, for the scene without a map, establishing a coordinate system, establishing a road topological relation according to the track, and establishing a fingerprint for each point in the track.
It is to be understood that the above-described embodiments of the present invention are merely illustrative of or explaining the principles of the invention and are not to be construed as limiting the invention. Therefore, any modification, equivalent replacement, improvement and the like made without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention. Further, it is intended that the appended claims cover all such variations and modifications as fall within the scope and boundaries of the appended claims or the equivalents of such scope and boundaries.
Claims (2)
1. A method for fingerprint generation and maintenance of Wi-Fi SLAM is characterized in that the method is based on four types of scenes including no image acquisition, image acquisition and image acquisition;
generating fingerprint information for a scene without image and acquisition, comprising the following steps A1-A4:
a1, obtaining a track meeting the requirements according to the scene, POI information and other necessary characteristics;
a2, restoring the track;
a3, finding characteristic points in the track;
a4, taking the feature point as a certain key point on the reduction track, and aligning the key point and the similar road section by utilizing the similarity between the fingerprints on the track road section to generate a relative fingerprint position topology;
for scenes without image acquisition, fingerprint information maintenance is carried out, and the method comprises the following steps B1-B2:
b1, restoring the track returned by the user;
b2, carrying out track clustering on the restored tracks on one hand, carrying out position operation on the restored tracks on the other hand, and determining the coordinate position and the fingerprint corresponding to each step in the tracks according to the two information;
for scenes with images and without acquisition, fingerprint generation is carried out, and the method comprises the following steps C1-C4:
c1, obtaining a track meeting the requirements according to the scene, POI information and other necessary characteristics;
c2, restoring the track;
c3, finding the characteristic points in the track, and determining the coordinates of the characteristic points;
c4, restoring the coordinates of each step in each track by using track clustering information to form a fingerprint;
for scenes with images and acquisition, fingerprint maintenance is carried out, and the method comprises the following steps D1-D2:
d1, restoring the track returned by the user;
and D2, performing track clustering on the restored tracks on one hand, and performing position operation on the restored tracks on the other hand, and determining the coordinate position and the fingerprint corresponding to each step in the tracks according to the two information.
2. The method of claim 1, wherein the feature points in the trace comprise SSID store feature points, doorway feature points, GPS backhaul feature points, geomagnetic feature points, and stair feature points.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114363053A (en) * | 2021-12-31 | 2022-04-15 | 深信服科技股份有限公司 | Attack identification method and device and related equipment |
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