CN116907498A - Visible light communication map generation method, device, terminal and medium - Google Patents
Visible light communication map generation method, device, terminal and medium Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
- H04B10/11—Arrangements specific to free-space transmission, i.e. transmission through air or vacuum
- H04B10/114—Indoor or close-range type systems
- H04B10/116—Visible light communication
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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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
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Abstract
The application is applicable to the field of visible light communication, and provides a method, a device, a terminal and a medium for generating a visible light communication map, wherein the method comprises the following steps: analyzing the acquired image containing the visible light communication light sources to obtain two-dimensional position coordinates of each visible light communication light source in the image; calculating a first pose of each visible light communication light source relative to a position acquisition and calculation device of the three-dimensional space acquisition and processing device; correcting the first pose of each visible light communication light source based on the target error value and the initial measuring error value between the priori pose and the measuring pose of the target visible light communication light source to obtain the second pose of each visible light communication light source; and determining the three-dimensional position coordinate of each visible light communication light source according to the two-dimensional position coordinate and the second pose of each visible light communication light source, and generating the visible light communication map. The scheme can reduce the cost of manual survey and improve the map construction efficiency and map precision.
Description
Technical Field
The application belongs to the field of visible light communication, and particularly relates to a visible light communication map generation method, device, terminal and medium.
Background
With the widespread use of visible light communication (Visible Light Communication, VLC) technology, in indoor environments such as indoor venues and workshops, the positioning of visible light is generally performed by LED (Light Emitting Diode ) light sources. To implement this positioning method, it is necessary to acquire a visible light communication map in advance. However, in large-scale visible light positioning deployment, the technical problems of high cost and low efficiency exist in building the visible light communication map through manual surveying, a visual inertial odometer is needed in the process of building the visible light communication map, and the accumulated error of the visual inertial odometer can cause deviation of the positions of all LED light sources in the visible light communication map, so that the accuracy of the visible light communication map is affected.
Disclosure of Invention
The embodiment of the application provides a visible light communication map generation method, a device, a terminal and a medium, which are used for solving the problems of high manual investigation cost, low efficiency and low map precision in the process of constructing a visible light communication map in the prior art.
A first aspect of an embodiment of the present application provides a method for generating a visible light communication map, including:
analyzing the acquired image containing the visible light communication light sources to obtain two-dimensional position coordinates of each visible light communication light source in the image;
calculating a first pose of each visible light communication light source relative to a position acquisition and calculation device of the three-dimensional space acquisition and processing device;
correcting the first pose of each visible light communication light source based on a target error value and an initial measurement error value between the prior pose and the measurement pose of the target visible light communication light source to obtain a second pose of each visible light communication light source;
and determining the three-dimensional position coordinates of each visible light communication light source according to the two-dimensional position coordinates and the second pose of each visible light communication light source, and generating the visible light communication map.
A second aspect of an embodiment of the present application provides a visible light communication map generating apparatus, including:
the analysis module is used for analyzing the acquired image containing the visible light communication light sources to obtain the two-dimensional position coordinates of each visible light communication light source in the image;
The computing module is used for computing a first pose of each visible light communication light source relative to the position acquisition computing equipment in the three-dimensional space acquisition processing equipment;
the correction module is used for correcting the first pose of each visible light communication light source based on the target error value and the initial measuring error value between the priori pose and the measuring pose of the target visible light communication light source to obtain the second pose of each visible light communication light source;
the generation module is used for determining the three-dimensional position coordinates of each visible light communication light source according to the two-dimensional position coordinates and the second pose of each visible light communication light source and generating the visible light communication map.
A third aspect of an embodiment of the present application provides a terminal comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the method according to the first aspect when executing the computer program.
A fourth aspect of the embodiments of the present application provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the steps of the method according to the first aspect.
A fifth aspect of the application provides a computer program product for causing a terminal to carry out the steps of the method of the first aspect described above when the computer program product is run on the terminal.
From the above, the method analyzes the acquired image containing the visible light communication light sources to obtain two-dimensional position coordinates of each visible light communication light source in the image, calculates a first pose of each visible light communication light source relative to pose acquisition and calculation equipment in three-dimensional space acquisition and processing equipment, corrects the first pose according to the target error value and an initial measurement error value between the priori pose and measurement pose of the target visible light communication light source to obtain a second pose of each visible light communication light source, and finally determines three-dimensional position coordinates of the visible light communication light source according to the two-dimensional position coordinates and the second pose of the visible light communication light source to generate a visible light communication map. In the application, the three-dimensional space acquisition processing equipment is used for acquiring data, so that the cost of manual surveying is reduced, the acquisition time is shortened by using the equipment, and the mapping efficiency is improved. Meanwhile, the pose can be corrected by using the target visible light communication light source with priori meaning, so that the accuracy of the visible light communication map is further ensured.
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In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments or the description of the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a method for generating a visible light communication map according to an embodiment of the present application;
fig. 2 is a second flowchart of a visible light communication map generating method according to an embodiment of the present application;
fig. 3 is a block diagram of a visible light communication map generating apparatus according to an embodiment of the present application;
fig. 4 is a block diagram of a terminal according to an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth such as the particular system architecture, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
As used in this specification and the appended claims, the term "if" may be interpreted in context as "when …" or "upon" or "in response to a determination" or "in response to detection. Similarly, the phrase "if a determination" or "if a [ described condition or event ] is detected" may be interpreted in the context of meaning "upon determination" or "in response to determination" or "upon detection of a [ described condition or event ]" or "in response to detection of a [ described condition or event ]".
In particular implementations, the terminals described in embodiments of the application include, but are not limited to, other portable devices such as mobile phones, laptop computers, or tablet computers having a touch-sensitive surface (e.g., a touch screen display and/or a touch pad). It should also be appreciated that in some embodiments, the device is not a portable communication device, but a desktop computer having a touch-sensitive surface (e.g., a touch screen display and/or a touch pad).
In the following discussion, a terminal including a display and a touch sensitive surface is described. However, it should be understood that the terminal may include one or more other physical user interface devices such as a physical keyboard, mouse, and/or joystick.
The terminal supports various applications, such as one or more of the following: drawing applications, presentation applications, word processing applications, website creation applications, disk burning applications, spreadsheet applications, gaming applications, telephony applications, video conferencing applications, email applications, instant messaging applications, workout support applications, photo management applications, digital camera applications, digital video camera applications, web browsing applications, digital music player applications, and/or digital video player applications.
Various applications that may be executed on the terminal may use at least one common physical user interface device such as a touch sensitive surface. One or more functions of the touch-sensitive surface and corresponding information displayed on the terminal may be adjusted and/or changed between applications and/or within the corresponding applications. In this way, the common physical architecture (e.g., touch-sensitive surface) of the terminal may support various applications with user interfaces that are intuitive and transparent to the user.
It should be understood that, the sequence number of each step in this embodiment does not mean the execution sequence, and the execution sequence of each process should be determined by its function and internal logic, and should not limit the implementation process of the embodiment of the present application in any way.
In order to illustrate the technical scheme of the application, the following description is made by specific examples.
Referring to fig. 1, fig. 1 is a flowchart of a method for generating a visible light communication map according to an embodiment of the present application. As shown in fig. 1, a visible light communication map generating method includes the steps of:
and step 101, analyzing the acquired image containing the visible light communication light sources to obtain the two-dimensional position coordinates of each visible light communication light source in the image.
In particular, the image comprising the visible light communication light source is acquired by a visible light communication camera, typically a black and white camera, preferably an LED light source. The visible light communication camera and pose acquisition and calculation equipment described below are part of the three-dimensional space acquisition and processing equipment. The application collects and processes the data of the visible light communication light source through the three-dimensional space collection and processing equipment.
Specifically, the three-dimensional space acquisition and processing device can be manufactured into a handheld device which can be held by a worker, the worker holds the three-dimensional space acquisition and processing device, and the visible light communication camera of the three-dimensional space acquisition and processing device is used for detecting whether the visible light communication light source exists in a target environment needing to be mapped. Further, if the visible light communication light source in the target environment is detected, the image including the visible light communication light source is taken by the visible light communication camera. The target environment is an environment needing to be mapped, and the visible light communication light source is installed in the target environment.
Specifically, in a larger-scale target environment, such as a large-scale indoor venue or subway, required data can be rapidly acquired through the three-dimensional space acquisition processing equipment, compared with the case that the target environment is surveyed and acquired by manually using tools such as a measuring scale, the method reduces the manual input cost and the survey time, and further improves the acquisition efficiency.
Specifically, in order to finally generate the visible light communication map, after the three-dimensional space acquisition and processing device is started, when a worker holds the three-dimensional space acquisition and processing device to detect and acquire, the worker needs to walk around to form a circular path, wherein the circular path means that the visible light communication light source acquired by the last detection of the visible light communication camera is the visible light communication light source acquired by the first detection of the visible light communication camera, namely, the detection and the acquisition form a closed loop, and in the detection and the acquisition process, the visible light communication camera needs to face the visible light communication light source, so that the data of each visible light communication light source can be detected and acquired. In the present application, the visible light communication light source acquired by the first detection of the visible light communication camera is generally used as the target visible light communication light source mentioned below.
Specifically, in order to form the closed loop, the application preferentially collects all relevant data of the visible light communication light sources, wherein the relevant data comprises images collected by the visible light communication camera, images and other data collected by the pose collecting and calculating equipment, and after all relevant data are collected based on the three-dimensional space collecting and processing equipment, operations such as analysis and calculation are performed.
After the acquisition is finished, analyzing all acquired images containing the visible light communication light sources respectively, wherein the visible light communication light sources contained in the images acquired by the visible light communication camera exist in a light source stripe code mode, the center point coordinates of the light source stripe code are used as the two-dimensional position coordinates of the visible light communication light sources in the images, and the two-dimensional position coordinates of the visible light communication light sources can be obtained by analyzing the coordinates of the center points of the light source stripe code in the images.
In addition, besides the data acquisition by holding the three-dimensional space acquisition and processing device by a worker, there are other methods capable of acquiring data, for example, the three-dimensional space acquisition and processing device is installed on a movable device, and the acquisition device is further controlled to detect whether the visible light communication light source exists in the target environment according to a set action track by controlling the action track of the movable device. The movable equipment can also change parameters such as height, angle and the like of the three-dimensional space acquisition and processing equipment. The other implementations are not shown here.
Step 102, calculating a first pose of each visible light communication light source relative to a position acquisition and calculation device in the three-dimensional space acquisition and processing device.
Specifically, as described above, the three-dimensional space acquisition processing device includes the pose acquisition computing device. The pose acquisition computing equipment is used for acquiring data such as images of the visible light communication light sources, and the pose acquisition computing equipment is used for computing a first pose of each visible light communication light source relative to the pose acquisition computing equipment after all relevant data of the visible light communication light sources are acquired based on the three-dimensional space acquisition processing equipment.
In particular, there are a variety of pose acquisition computing devices, such as a wheel odometer and a visual inertial odometer, which the present application prefers as the pose acquisition computing device. And after the visual inertial odometer collects the related data of the visible light communication light source, calculating the first pose of the visible light communication light source relative to the visual inertial odometer.
In practice, step 101 and step 102 are typically performed simultaneously.
And step 103, correcting the first pose of each visible light communication light source based on the target error value and an initial measurement error value between the prior pose and the measurement pose of the target visible light communication light source, and obtaining a second pose of each visible light communication light source.
Specifically, errors occur when pose calculation is performed through the pose acquisition and calculation device, and particularly accumulated errors occur when the visual inertial odometer is continuously calculated. In order to improve the accuracy of the visible light communication map, it is necessary to reduce the accumulated error as much as possible. The application introduces a target visible light communication light source by which the effect of the accumulated error is eliminated as much as possible.
Specifically, the correcting the first pose of each visible light communication light source based on the target error value and the initial measuring error value between the prior pose and the measuring pose of the target visible light communication light source, before obtaining the second pose of each visible light communication light source, includes: acquiring the prior pose of the target visible light communication light source relative to the three-dimensional space acquisition processing equipment; calculating to obtain the measurement pose of the target visible light communication light source relative to the three-dimensional space acquisition processing equipment; determining an initial measurement error value based on the prior pose and the measurement pose; comparing the initial measured error value with the target error value; and if the initial measurement error value is larger than the target error value, correcting the first pose according to a graph optimization algorithm.
Specifically, as described above, the visible light communication light sources collected by the three-dimensional space collection processing device for the first time and the last time are the same visible light communication light source, the visible light communication light source is used as one of the target visible light sources, the visible light communication light source is corrected and utilized by the application, and in order to distinguish the visible light communication light source from other target visible light communication light sources, the application is called as the target visible light communication light source forming a closed loop.
Specifically, the prior pose is obtained by measuring and calculating a target visible light communication light source forming a closed loop through other pose measuring and calculating tools except the three-dimensional space acquisition and processing equipment instead of being calculated by the pose acquisition and calculating equipment, the measured and calculated pose is called as the prior pose, and the prior pose is input into the visible light communication map generating device when the device is started. The measuring pose is calculated by the pose acquisition and calculation device after the measuring pose finally returns to the target visible light communication light source forming a closed loop through a circular path. The prior pose and the measurement pose are poses of a target visible light communication light source forming a closed loop relative to the pose acquisition computing device. The first pose includes the measurement pose.
Ideally, the prior pose and the measurement pose should be the same. However, there is an error between the prior pose and the measured pose due to the accumulated error of the pose acquisition computing device, which is referred to as an initial measurement error. In most cases, it is desirable that the initial measured error value is 0, but because of technical limitations, the initial measured error value is not necessarily 0, and thus the target error value is set to a maximum allowable error value. Comparing the initial measurement error value with the target error value, and if the initial measurement error value is larger than the target error value, indicating that the visible light communication map generated based on the first pose cannot reach the required precision. Therefore, the first pose needs to be corrected by the map optimization algorithm.
Specifically, the prior pose and the first pose are expressed as a graph structure, a starting point of the graph structure is the prior pose, and an end point of the graph structure is the measurement pose. And according to the constraint condition, adopting a graph optimization algorithm to adjust the first pose in the graph structure for a plurality of times. Wherein, the constraint condition specifically comprises: (1) Adjusting the prior pose and the measurement pose in the graph structure so that the initial measurement error value is continuously reduced; (2) Simultaneously, adjusting other first pose except the measurement pose in the graph structure; during adjustment, the amplitude of each adjustment is based on the preset adjustable amplitude. And (3) re-calculating an error value between the prior pose and the current measured pose after each adjustment, and when the error value is smaller than the target error value, indicating that the pose at the moment reaches the mapping standard. At this time, the process of correcting the first pose of each of the visible light communication light sources is completed, and the pose obtained by current adjustment is taken as the second pose. The second pose is a pose of the visible light communication light source relative to the pose acquisition computing device.
And 104, determining the three-dimensional position coordinates of each visible light communication light source according to the two-dimensional position coordinates and the second pose of each visible light communication light source, and generating the visible light communication map.
Specifically, the determining the three-dimensional position coordinate of each of the visible light communication light sources according to the two-dimensional position coordinate of each of the visible light communication light sources and the second pose, and generating the visible light communication map includes: determining three-dimensional camera coordinates of each visible light communication light source relative to the visible light communication camera through the two-dimensional position coordinates of each visible light communication light source and camera parameters of the visible light communication camera; according to the visible light communication camera and the first transformation matrix of the three-dimensional space acquisition and processing equipment, converting the three-dimensional camera coordinates into three-dimensional equipment coordinates relative to the three-dimensional space acquisition and processing equipment; and determining the three-dimensional position coordinates of each visible light communication light source based on the three-dimensional device coordinates and the second pose, and generating the visible light communication map.
Specifically, the two-dimensional position coordinates are two-dimensional coordinates of the visible light communication light source in an image coordinate system, and the three-dimensional position coordinates are three-dimensional coordinates in a space coordinate system corresponding to the visible light communication map. Therefore, conversion of the coordinate dimension and space is required to convert the two-dimensional position coordinates into the three-dimensional position coordinates.
Specifically, first, camera parameters of the visible light communication camera are obtained, and the camera parameters specifically comprise a camera internal parameter matrix and a camera external parameter matrix. And calculating to obtain the three-dimensional camera coordinates based on the two-dimensional position coordinates, the camera internal reference matrix and the camera external reference matrix, wherein the three-dimensional camera coordinates are three-dimensional coordinates of each visible light communication light source in a camera coordinate system of the visible light communication camera.
Further, a first transformation matrix between the visible light communication camera and the three-dimensional space acquisition and processing equipment is obtained, and based on the three-dimensional camera coordinates and the first transformation matrix, three-dimensional equipment coordinates are obtained through calculation, wherein the three-dimensional equipment coordinates are three-dimensional coordinates of each visible light communication light source in an equipment coordinate system of the three-dimensional space acquisition and processing equipment. Thus, the coordinate conversion of the visible light communication light source from the image coordinate system to the device coordinate system is completed.
Specifically, to generate the visible light communication map, it is further necessary to convert the three-dimensional device coordinates of each of the visible light communication light sources into the spatial coordinate system of the visible light communication map, that is, to set the second pose to determine the three-dimensional position coordinates of each of the visible light communication light sources, and to generate the visible light communication map.
Specifically, the determining the three-dimensional position coordinates of each of the visible light communication light sources based on the three-dimensional device coordinates and the second pose, generating the visible light communication map, includes: according to a second transformation matrix between the pose acquisition computing equipment and the three-dimensional space acquisition processing equipment, converting the second pose into a third pose of each visible light communication light source relative to the three-dimensional space acquisition processing equipment; determining pose vectors of the target visible light communication light sources corresponding to the three-dimensional position coordinate origin of each visible light communication light source based on the prior poses of the target visible light communication light sources corresponding to the second pose and the three-dimensional position coordinate origin of each visible light communication light source; converting the third pose into a fourth pose consistent with the coordinate system of the visible light communication map through the pose vector; performing matrix operation on the three-dimensional equipment coordinates and the fourth pose to obtain the three-dimensional position coordinates of each visible light communication light source; and performing one-to-one correspondence between the three-dimensional position coordinates and the identity identification codes of each visible light communication light source to generate the visible light communication map.
Specifically, the second pose is a pose of the visible light communication light source relative to the pose acquisition and calculation device, a second transformation matrix between the pose acquisition and calculation device and the three-dimensional space acquisition and processing device is obtained, and the third pose of the visible light communication light source relative to the three-dimensional space acquisition and processing device is obtained through calculation. At this time, the third pose is located in the device coordinate system of the three-dimensional space acquisition and processing device.
Further, the three-dimensional position origin of coordinates is the origin of coordinates of the space coordinate system corresponding to the visible light communication map. And acquiring the prior pose of the target visible light communication light source corresponding to the second pose of each visible light communication light source and the three-dimensional position coordinate origin, and calculating to obtain a pose vector between the two poses. And matching the third pose to the fourth pose corresponding to the space coordinate system of the visible light communication map based on the pose vector.
Specifically, the three-dimensional equipment coordinates and the fourth pose of each visible light communication light source are obtained, and matrix operation, such as matrix multiplication, is performed on the three-dimensional equipment coordinates and the fourth pose to obtain the three-dimensional position coordinates of each visible light communication light source in the space coordinate system of the visible light communication map.
Specifically, each of the visible light communication light sources exists in the visible light communication map in the form of a coordinate data set including the identification code and the three-dimensional position coordinates of each of the visible light communication light sources. If the identification code of the visible light communication light source is 101 and the coordinates are [0, 0], the coordinate data set of the visible light communication light source may be expressed as 101: [0,0,0].
Specifically, a unique identification code is determined for each visible light communication light source according to the optical characteristics of the visible light communication light source. In practical application, different stroboscopic information is set for each visible light communication light source, and different identity codes are configured for the visible light communication light sources with different stroboscopic information in advance. Therefore, in the application, the configured strobe information and the identification code can be directly utilized. And analyzing to obtain stroboscopic information of each visible light communication light source, and matching the stroboscopic information with the corresponding identification code for each visible light communication light source.
Specifically, the determining the three-dimensional position coordinate of each visible light communication light source according to the two-dimensional position coordinate of each visible light communication light source and the second pose, before generating the visible light communication map, further includes: performing light source stripe coding analysis on the acquired image containing the visible light communication light source to obtain an identity identification code of each visible light communication light source; establishing a corresponding relation between the identity identification code and the two-dimensional position coordinate; the step of determining the three-dimensional position coordinates of each visible light communication light source according to the two-dimensional position coordinates and the second pose of each visible light communication light source, and after generating the visible light communication map, further comprises: and matching the corresponding three-dimensional position coordinates of the visible light communication light source in the visible light communication map according to the analyzed identity identification code and the corresponding relation.
Specifically, the collected image containing the visible light communication light source is subjected to light source stripe coding analysis to obtain an identity identification code of each visible light communication light source; and establishing a corresponding relation between the identification code and the two-dimensional position coordinate, and executing the operation and the step 101 simultaneously. After the identification code of each visible light communication light source is determined, the corresponding relation between the identification code and the two-dimensional position coordinates is established. In this way, when the visible light communication map is used later, the three-dimensional position coordinates of the corresponding visible light communication light source can be matched in the visible light communication map according to the analyzed identification code and the corresponding relationship.
In the embodiment of the application, an acquired image containing visible light communication light sources is analyzed to obtain two-dimensional position coordinates of each visible light communication light source in the image, meanwhile, a first pose of each visible light communication light source relative to pose acquisition and calculation equipment in three-dimensional space acquisition and processing equipment is calculated, the first pose is corrected according to a target error value and an initial measurement error value between a priori pose and a measurement pose of the target visible light communication light source, a second pose of each visible light communication light source is obtained, and finally, three-dimensional position coordinates of the visible light communication light sources are determined according to the two-dimensional position coordinates and the second pose of the visible light communication light sources, so that a visible light communication map is generated. In the application, the three-dimensional space acquisition processing equipment is used for acquiring data, so that the cost of manual surveying is reduced, the acquisition time is shortened by using the equipment, and the mapping efficiency is improved. Meanwhile, the pose can be corrected by using the target visible light communication light source with priori meaning, so that the accuracy of the visible light communication map is further ensured.
Referring to fig. 2, fig. 2 is a flowchart second of a method for generating a visible light communication map according to an embodiment of the present application. As shown in fig. 2, a visible light communication map generating method includes the steps of:
step 201, obtaining a priori coordinates of a visible light communication light source of a target.
Specifically, before the visible light positioning map generating device is started, at least two target visible light communication light sources need to be determined.
Specifically, two target visible light communication light sources are determined, and the prior coordinates of the target visible light communication light sources are acquired. The prior coordinates are relative coordinates of two visible light communication light sources of the targets.
Step 202, selecting the prior coordinates of any one target visible light communication light source as the three-dimensional position coordinate origin of the space coordinate system of the visible light communication map; the three-dimensional position coordinates of each of the visible light communication light sources are coordinates in the spatial coordinate system.
Specifically, the prior coordinates of one target visible light communication light source are selected from two target visible light communication light sources as the three-dimensional position coordinate origin of the space coordinate system of the visible light communication map, and are assigned to be [0, 0], so that the three-dimensional position coordinates of the other target visible light communication light source relative to the three-dimensional position coordinate origin can be obtained according to the relative relation between the prior coordinates. The spatial coordinate system of the visible light communication map can be constructed according to the two target visible light communication light sources, and the three-dimensional position coordinates of each visible light communication light source refer to coordinates in the spatial coordinate system.
If the target visible light communication light source serving as the origin of the three-dimensional position coordinates is selected, the three-dimensional space acquisition processing device needs to acquire the target visible light communication light source serving as the origin of the three-dimensional position coordinates to form an acquisition closed loop when the three-dimensional space acquisition processing device starts to acquire after the device is started.
And 203, analyzing the acquired image containing the visible light communication light sources to obtain the two-dimensional position coordinates of each visible light communication light source in the image.
The implementation process of this step is the same as that of step 101 in the foregoing embodiment, and will not be described here again.
Step 204, calculating a first pose of each visible light communication light source relative to a pose acquisition and calculation device of the three-dimensional space acquisition and processing device.
The implementation process of this step is the same as that of step 102 in the foregoing embodiment, and will not be described here again.
Step 205, correcting the first pose of each visible light communication light source based on the target error value and the initial measurement error value between the prior pose and the measurement pose of the target visible light communication light source, so as to obtain the second pose of each visible light communication light source.
The implementation process of this step is the same as that of step 103 in the foregoing embodiment, and will not be described here again.
And 206, determining the three-dimensional position coordinates of each visible light communication light source according to the two-dimensional position coordinates and the second pose of each visible light communication light source, and generating the visible light communication map.
The implementation process of this step is the same as that of step 104 in the foregoing embodiment, and will not be described here again.
In the embodiment of the application, the prior coordinates of the visible light communication light sources of the targets are obtained, and the prior coordinates of any one of the visible light communication light sources of the targets are selected as the three-dimensional position coordinate origin of the space coordinate system of the visible light communication map. A target visible light communication light source with priori meaning is introduced, a space coordinate system corresponding to the visible light communication map is constructed, and a global reference system is provided for map construction, so that the generated visible light communication map is more standard and standard.
Referring to fig. 3, fig. 3 is a block diagram of a visible light communication map generating apparatus according to an embodiment of the present application, and for convenience of explanation, only a portion related to the embodiment of the present application is shown.
The visible light communication map generation apparatus 300 includes: the device comprises an analysis module 301, a calculation module 302, a correction module 303 and a generation module 304.
The analyzing module 301 is configured to analyze an acquired image including a visible light communication light source, so as to obtain two-dimensional position coordinates of each visible light communication light source in the image;
the computing module 302 is configured to compute a first pose of each visible light communication light source relative to a pose acquisition computing device in the three-dimensional space acquisition processing device;
the correction module 303 is configured to correct the first pose of each of the visible light communication light sources based on a target error value and an initial measurement error value between a priori pose and a measured pose of the target visible light communication light source, so as to obtain a second pose of each of the visible light communication light sources;
the generating module 304 is configured to determine a three-dimensional position coordinate of each of the visible light communication light sources according to the two-dimensional position coordinate and the second pose of each of the visible light communication light sources, and generate the visible light communication map.
Specifically, the apparatus further comprises an a priori processing module configured to:
acquiring prior coordinates of the visible light communication light source of the target; selecting the prior coordinates of any one target visible light communication light source as the three-dimensional position coordinate origin of the space coordinate system of the visible light communication map; the three-dimensional position coordinates of each of the visible light communication light sources are coordinates in the spatial coordinate system.
Specifically, the parsing module is used for:
performing light source stripe coding analysis on the acquired image containing the visible light communication light source to obtain an identity identification code of each visible light communication light source; establishing a corresponding relation between the identity identification code and the two-dimensional position coordinate; the step of determining the three-dimensional position coordinates of each visible light communication light source according to the two-dimensional position coordinates and the second pose of each visible light communication light source, and after generating the visible light communication map, further comprises: and matching in the visible light communication map according to the target identity identification code and the corresponding relation to obtain the target three-dimensional position coordinate of the target visible light communication light source.
And determining a unique identification code for each visible light communication light source according to the optical characteristics of the visible light communication light source.
Wherein the correction module is further configured to:
acquiring the prior pose of the target visible light communication light source relative to the three-dimensional space acquisition processing equipment; calculating to obtain the measurement pose of the target visible light communication light source relative to the three-dimensional space acquisition processing equipment; determining an initial measurement error value based on the prior pose and the measurement pose; comparing the initial measured error value with the target error value; and if the initial measurement error value is larger than the target error value, correcting the first pose according to a graph optimization algorithm.
Specifically, the generating module is used for:
determining three-dimensional camera coordinates of each visible light communication light source relative to the visible light communication camera through the two-dimensional position coordinates of each visible light communication light source and camera parameters of the visible light communication camera; according to the visible light communication camera and the first transformation matrix of the three-dimensional space acquisition and processing equipment, converting the three-dimensional camera coordinates into three-dimensional equipment coordinates relative to the three-dimensional space acquisition and processing equipment; and determining the three-dimensional position coordinates of each visible light communication light source based on the three-dimensional device coordinates and the second pose, and generating the visible light communication map.
Specifically, the generating module is used for:
according to a second transformation matrix between the pose acquisition computing equipment and the three-dimensional space acquisition processing equipment, converting the second pose into a third pose of each visible light communication light source relative to the three-dimensional space acquisition processing equipment; determining pose vectors of the target visible light communication light sources corresponding to the three-dimensional position coordinate origin of each visible light communication light source based on the prior poses of the target visible light communication light sources corresponding to the second pose and the three-dimensional position coordinate origin of each visible light communication light source; converting the third pose into a fourth pose consistent with the coordinate system of the visible light communication map through the pose vector; performing matrix operation on the three-dimensional equipment coordinates and the fourth pose to obtain the three-dimensional position coordinates of each visible light communication light source; and performing one-to-one correspondence between the three-dimensional position coordinates and the identity identification codes of each visible light communication light source to generate the visible light communication map.
The visible light communication map generating device provided by the embodiment of the application can realize the processes of the embodiment of the visible light communication map generating method, can achieve the same technical effects, and is not repeated here for avoiding repetition.
Fig. 4 is a block diagram of a terminal according to an embodiment of the present application. As shown in the figure, the terminal 4 of this embodiment includes: at least one processor 40 (only one is shown in fig. 4), a memory 41 and a computer program 42 stored in the memory 41 and executable on the at least one processor 40, the processor 40 implementing the steps in any of the various method embodiments described above when executing the computer program 42.
The terminal 4 may be a computing device such as a desktop computer, a notebook computer, a palm computer, a cloud server, etc. The terminal 4 may include, but is not limited to, a processor 40, a memory 41. It will be appreciated by those skilled in the art that fig. 4 is merely an example of the terminal 4 and is not limiting of the terminal 4, and may include more or fewer components than shown, or may combine some components, or different components, e.g., the terminal may further include input and output devices, network access devices, buses, etc.
The processor 40 may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 41 may be an internal storage unit of the terminal 4, such as a hard disk or a memory of the terminal 4. The memory 41 may also be an external storage device of the terminal 4, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card) or the like, which are provided on the terminal 4. Further, the memory 41 may also include both an internal storage unit and an external storage device of the terminal 4. The memory 41 is used for storing the computer program as well as other programs and data required by the terminal. The memory 41 may also be used for temporarily storing data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, the specific names of the functional units and modules are only for distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. 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 application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/terminal and method may be implemented in other manners. For example, the apparatus/terminal embodiments described above are merely illustrative, e.g., the division of the modules or units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated modules/units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present application may implement all or part of the flow of the method of the above embodiment, or may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the computer program may implement the steps of each of the method embodiments described above. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth. It should be noted that the computer readable medium contains content that can be appropriately scaled according to the requirements of jurisdictions in which such content is subject to legislation and patent practice, such as in certain jurisdictions in which such content is subject to legislation and patent practice, the computer readable medium does not include electrical carrier signals and telecommunication signals.
The present application may also be implemented as a computer program product for implementing all or part of the procedures of the methods of the above embodiments, which when run on a terminal causes the terminal to perform the steps of the method embodiments described above.
The above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.
Claims (10)
1. A visible light communication map generation method, characterized by comprising:
analyzing the acquired image containing the visible light communication light sources to obtain two-dimensional position coordinates of each visible light communication light source in the image;
calculating a first pose of each visible light communication light source relative to a position acquisition and calculation device of the three-dimensional space acquisition and processing device;
Correcting the first pose of each visible light communication light source based on a target error value and an initial measurement error value between the prior pose and the measurement pose of the target visible light communication light source to obtain a second pose of each visible light communication light source;
and determining the three-dimensional position coordinates of each visible light communication light source according to the two-dimensional position coordinates and the second pose of each visible light communication light source, and generating the visible light communication map.
2. The method of claim 1, wherein the analyzing the acquired image including the visible light communication light sources to obtain two-dimensional position coordinates of each of the visible light communication light sources in the image is preceded by:
acquiring prior coordinates of the visible light communication light source of the target;
selecting the prior coordinates of any one target visible light communication light source as the three-dimensional position coordinate origin of the space coordinate system of the visible light communication map; the three-dimensional position coordinates of each of the visible light communication light sources are coordinates in the spatial coordinate system.
3. The method of claim 1, wherein determining three-dimensional position coordinates of each of the visible light communication light sources from the two-dimensional position coordinates and the second pose of each of the visible light communication light sources, prior to generating the visible light communication map, further comprises:
Performing light source stripe coding analysis on the acquired image containing the visible light communication light source to obtain an identity identification code of each visible light communication light source;
establishing a corresponding relation between the identity identification code and the two-dimensional position coordinate;
the step of determining the three-dimensional position coordinates of each visible light communication light source according to the two-dimensional position coordinates and the second pose of each visible light communication light source, and after generating the visible light communication map, further comprises:
and matching the corresponding three-dimensional position coordinates of the visible light communication light source in the visible light communication map according to the analyzed identity identification code and the corresponding relation.
4. A method according to claim 3, wherein a unique identification code is determined for each of the visible light communication light sources based on the optical characteristics of the visible light communication light sources.
5. The method of claim 1, wherein correcting the first pose of each of the visible light communication light sources based on the target error value and an initial measured error value between a priori pose and a measured pose of the target visible light communication light source, before deriving a second pose of each of the visible light communication light sources, comprises:
Acquiring the prior pose of the target visible light communication light source relative to the three-dimensional space acquisition processing equipment;
calculating to obtain the measurement pose of the target visible light communication light source relative to the three-dimensional space acquisition processing equipment;
determining the initial measurement error value based on the prior pose and the measurement pose;
comparing the initial measured error value with the target error value;
and if the initial measurement error value is larger than the target error value, correcting the first pose according to a graph optimization algorithm.
6. The method of claim 1, wherein the determining three-dimensional position coordinates of each of the visible light communication light sources from the two-dimensional position coordinates and the second pose of each of the visible light communication light sources, generating the visible light communication map, comprises:
determining three-dimensional camera coordinates of each visible light communication light source relative to the visible light communication camera through the two-dimensional position coordinates of each visible light communication light source and camera parameters of the visible light communication camera;
according to the visible light communication camera and the first transformation matrix of the three-dimensional space acquisition and processing equipment, converting the three-dimensional camera coordinates into three-dimensional equipment coordinates relative to the three-dimensional space acquisition and processing equipment;
And determining the three-dimensional position coordinates of each visible light communication light source based on the three-dimensional device coordinates and the second pose, and generating the visible light communication map.
7. The method of claim 6, wherein the determining the three-dimensional position coordinates of each of the visible light communication light sources based on the three-dimensional device coordinates and the second pose, generating the visible light communication map, comprises:
according to a second transformation matrix between the pose acquisition computing equipment and the three-dimensional space acquisition processing equipment, converting the second pose into a third pose of each visible light communication light source relative to the three-dimensional space acquisition processing equipment;
determining pose vectors of the target visible light communication light sources corresponding to the three-dimensional position coordinate origin of each visible light communication light source based on the prior poses of the target visible light communication light sources corresponding to the second pose and the three-dimensional position coordinate origin of each visible light communication light source;
converting the third pose into a fourth pose consistent with the coordinate system of the visible light communication map through the pose vector;
Performing matrix operation on the three-dimensional equipment coordinates and the fourth pose to obtain the three-dimensional position coordinates of each visible light communication light source;
and performing one-to-one correspondence between the three-dimensional position coordinates and the identity identification codes of each visible light communication light source to generate the visible light communication map.
8. A visible light communication map generation apparatus, comprising:
the analysis module is used for analyzing the acquired image containing the visible light communication light sources to obtain the two-dimensional position coordinates of each visible light communication light source in the image;
the computing module is used for computing a first pose of each visible light communication light source relative to the position acquisition computing equipment in the three-dimensional space acquisition processing equipment;
the correction module is used for correcting the first pose of each visible light communication light source based on the target error value and the initial measuring error value between the priori pose and the measuring pose of the target visible light communication light source to obtain the second pose of each visible light communication light source;
the generation module is used for determining the three-dimensional position coordinates of each visible light communication light source according to the two-dimensional position coordinates and the second pose of each visible light communication light source and generating the visible light communication map.
9. A terminal comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any of claims 1 to 7 when the computer program is executed.
10. A computer readable storage medium storing a computer program, characterized in that the computer program when executed by a processor implements the steps of the method according to any one of claims 1 to 7.
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