KR101745626B1 - Apparatus and method for location-information - Google Patents

Abstract

The present invention relates to a method of computing current user's location information based on an image obtained by a user using a terminal and an arithmetic unit therefor. Specifically, when a user acquires an image including an identification object such as a building, the user compares the image with the reference information stored in the database, specifies one reference information, extracts the reference information extracted from the obtained image, And more particularly, to a method and apparatus for calculating an accurate current position of a user terminal using a matching point.

Description

[0001] APPARATUS AND METHOD FOR LOCATION-INFORMATION [0002]

The present invention relates to a method of computing current user's location information based on an image acquired by a user using a terminal, and a computing device therefor. Specifically, when a user acquires an image including an identification object such as a building, the user compares the image with the reference information stored in the database, specifies one reference information, extracts the reference information extracted from the obtained image, And more particularly, to a method and apparatus for calculating an accurate current position of a user terminal using a matching point.

Today, portable terminals such as smart phones include many accessories for carrying out various functions. Recently, many service providers are trying to provide various services by actively combining the functions of these accessories.

In recent years, the service based on the user's current location information has been greatly increased, in particular, by utilizing the location information providing function of the user terminal. Typical examples of such services include a map application and a navigating application. In addition, there are various kinds of services such as an application that provides coupon or discount information based on location information.

Meanwhile, the portable terminal generally acquires position information of the current terminal by utilizing GPS. However, since the position information obtained using the GPS is often several meters in error, it is difficult to grasp the accurate position, and furthermore, errors may be more likely to occur in the downtown area where the buildings are densely clustered. There is a problem that it is difficult to provide.

The present invention has been devised to solve such a problem, and relates to calculating an accurate position value based on an image acquired by a user using a terminal. That is, the present invention relates to an image-based position information calculation method and apparatus obtained by using a terminal, and the present invention not only satisfies the above-mentioned technical requirements, It was invented to provide additional technical elements that can not be done.

Korean Patent Registration No. 10-0845892 (registered July 7, 2008)

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and it is an object of the present invention to calculate accurate current position information of a terminal based on an image of an identification object acquired through a terminal.

In particular, the present invention aims to calculate location information within an improved error range as compared with position information obtained by existing means such as GPS.

The present invention is not limited to the location information of the current terminal but also the purpose of calculating additional information that can not be grasped by the prior art, such as how the terminal is located in which direction the terminal is viewed based on the identification target, .

On the other hand, the present invention aims to update the reference information of the identification object already stored in the database, more specifically, the texture data by utilizing the image of the identification object acquired through the terminal.

According to an aspect of the present invention, there is provided a method for calculating position information of a computing device including a computing unit and a memory, the method comprising: receiving an identification target image from a user terminal; Obtaining reference information corresponding to the identification target image; Setting a plurality of matching points between the image of the identification object and the modeling data included in the reference information; And computing position information and attitude information of the user terminal using the plurality of matching points and the predefined formula.

In the position information calculation method, the step of acquiring the reference information corresponding to the identification target image may include comparing the texture data of the plurality of reference information stored in the database with the identification target image, And acquires the reference information when the value is equal to or larger than the set value.

In this case, when there are a plurality of pieces of reference information having a similarity degree equal to or greater than a predetermined value, the plurality of reference information is transmitted to the user terminal, and one reference information is specified according to the selection input received from the user terminal .

The receiving of the identification target image from the user terminal of the position information calculation method may further include receiving current position information from the user terminal, and acquiring the reference information corresponding to the identification target image May be acquired within a limited range of the plurality of reference information stored in the database based on the received current position information.

Also, in the position information calculation method, the predefined formula is s · m '= A · [R | t] · M' (where s is a scale factor and m ' A is a shared parameter matrix of the image sensor in the user terminal, R is a matrix of rotation values, t is a matrix of movement values, and M 'is a matching point coordinate value matrix of the object to be identified).

Also, in the location information calculation method, the identification target image includes an outer wall surface of the building, and a plurality of matching points in the identification target image may be extracted from arbitrary points existing on the outer wall surface of the building.

Wherein the identification target image includes a first outer wall surface and a second outer wall surface of the building, a plurality of matching points in the identification target image include at least one of arbitrary points existing on the first outer wall surface, And may include at least one of any points present on the second outer wall surface.

The position information calculation method may further comprise: matching a plurality of corner points between the modeling data and the image of the identification object; And updating the texture data included in the reference information with reference to the image of the identification object with reference to the matched corner points.

According to another aspect of the present invention, there is provided a position information calculation apparatus comprising: a communication unit for receiving an image of an identification object from a user terminal; A reference point corresponding to the image of the object to be identified is acquired, a plurality of matching points are set between the image of the object to be identified and the modeling data included in the reference information, and using the plurality of matching points and the pre- An operation unit for calculating a position value of the user terminal; And a memory.

Also, in this case, when acquiring the reference information corresponding to the identification object image, the operation unit compares the texture data of the plurality of reference information stored in the database with the identification object image, If it is greater than or equal to the reference information, the reference information can be obtained.

According to the present invention, more accurate position information can be obtained than in the prior art.

Particularly, according to the present invention, it is possible to acquire accurate position information even in a space where buildings and the like are densely packed. Rather, since there is more data to be referenced in a space where many buildings and the like exist, .

Further, according to the present invention, it is possible to obtain additional information such as how far the user terminal is from the identification target, the height from the ground, and the direction in which the user terminal is positioned.

Further, according to the present invention, since a database used by a VW service, in which a large number of reference information has already been generated and stored, can be used as it is, service can be provided without the need for separate database construction have.

In addition, according to the present invention, texture data of identification objects stored in a database can be updated based on an image acquired by a service user through a terminal, thereby automatically updating reference information stored in a database.

FIG. 1 schematically shows a basic concept of a position information calculation method according to the present invention.
FIG. 2 is a flowchart illustrating a method of calculating positional information according to an embodiment of the present invention.
FIG. 3 illustrates a process in which a computing device compares reference images with texture data to obtain reference information.
4 shows a process in which a computing device sets a plurality of matching points between an image of an identification target and reference information.
5 and 6 illustrate a location information calculation method according to another embodiment of the present invention.
FIG. 7 illustrates another embodiment of the present invention, specifically, a method of calculating location information including a step of updating reference information.
FIG. 8 shows a specific example of an embodiment of reference information update according to FIG.

DETAILED DESCRIPTION OF THE EMBODIMENTS Reference will now be made in detail to the preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the like elements throughout. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment according to the present invention will be described in detail with reference to the accompanying drawings.

The embodiments disclosed herein should not be construed or interpreted as limiting the scope of the present invention. It will be apparent to those of ordinary skill in the art that the description including the embodiments of the present specification has various applications. Accordingly, any embodiment described in the Detailed Description of the Invention is illustrative for a better understanding of the invention and is not intended to limit the scope of the invention to embodiments.

The functional blocks shown in the drawings and described below are merely examples of possible implementations. In other implementations, other functional blocks may be used without departing from the spirit and scope of the following detailed description. Also, although one or more functional blocks of the present invention are represented as discrete blocks, one or more of the functional blocks of the present invention may be a combination of various hardware and software configurations that perform the same function.

Furthermore, the expression "including an element" is merely referred to as an "open" expression, and the element should not be understood as excluding the additional elements.

Further, when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, but it should be understood that other elements may be present in between do.

Hereinafter, a location information calculation method according to the present invention will be described with reference to the drawings.

First, FIG. 1 shows a schematic concept of a position information calculation method to be implemented in the present invention. According to this, the position information calculation starts with the user first acquiring an image of an arbitrary identification target with his / her user terminal 100, and then the image of the identification target is stored in the database 300 It is compared with a large amount of reference information, more precisely, reference information for specifying the position of the identification target. After that, the computing device 200 according to the present invention compares the identification object image with the reference information of the identification object to determine which position the user terminal 100 is located at And calculates in which posture the image of the identification object is acquired.

For example, when the user A wants to know the precise location information of the current location in the city center, the user A uses a terminal such as a smart phone, The terminal captures the building, and the terminal sends the image of the neighboring building photographed as described above to the server providing the location information service, thereby requesting the first location information calculation. The server receiving the building image searches the database 300 to extract the reference information matching the building image, that is, the modeling data and the texture data of the building having a high degree of similarity with the building in the building image, Obtain the location.

Meanwhile, in the present embodiment, the information that the server ultimately desires to acquire is location information of the point where the user A stands, not the location information of the building. That is, the server finds a matching point between the building in the building image and the modeling data in the reference information acquired earlier, synchronizes the modeling data in the building and the reference information in the building image, The position information of the place where the user A stands is finally obtained by calculating the photographed position and the angle at which the photographed image is photographed.

Hereinafter, a location information calculation method according to the present invention and a device configuration therefor will be described in detail with reference to the remaining drawings.

FIG. 2 illustrates the relationship between the location information calculation process and the devices necessary for the present invention.

Referring to FIG. 2, the user terminal 100, the computing device 200, and the database 300 may exist as a necessary configuration in the location information calculation. A brief description of each configuration is as follows.

First, the user terminal 100 may be understood to refer to a device that a user can possess or carry. At this time, the user terminal 100 necessarily includes means for acquiring an image, for example, an image sensor such as a CCD or the like. That is, the user terminal 100 referred to in the present specification needs to include means for photographing any identification object, for example, a building or a figurine. The user terminal 100 may include, for example, a smart phone, a tablet computer, a digital camera, a laptop computer, and the like. But it should be understood that it is included within the scope of the terminal 100.

Next, the computing device 200 is assumed to include a central processing unit (CPU) for processing a large amount of data, and a memory for storing data. The server referred to in the present invention may include all devices commonly used in the industry, for example, and may include a central processing unit and a memory, not necessarily a server, It is to be understood that the computing device 200 equipped with the present invention is all included.

Finally, the database 300 refers to a device capable of storing a large amount of information, more specifically, a large amount of reference information. The database 300 may be storage means (HDD, SSD, etc.) for storing data itself, or the database 300 may be a computer having a separate central processing unit and a memory and stores a large amount of data And a storage means for storing the data. In the former case, the database 300 may exist in a combined form in the computing device 200 described above. In the latter case, the database 300 is connected to the computing device 200 through a network such as a wired or wireless network And may exist in a form in which mutual data can be transmitted and received.

The location information calculation method according to the present invention will now be described with reference to FIG.

The location information calculation method according to the present invention starts with the user terminal 100 acquiring the image of the identification object first. (S110) At this time, the identification target may include a building, a statue, a figurine or the like around the point where the user stands, or may include a movable object or real estate that can identify the corresponding point. In addition, the meaning of acquiring the image of the identification object is basically understood to be that the image corresponding thereto is generated and stored by taking the image of the identification object, but in addition, the outline of the identification object, Pattern, pattern, and the like can be generated in the form of image or image data, it should be understood that they are all included in the category of step S110.

Meanwhile, in step S110, the application installed to use the software installed in the user terminal 100, for example, the location information calculation service, may be driven and photographed according to the guide of the application.

After step S110, the user terminal 100 transmits the obtained image of the identification object to the arithmetic unit 200, more specifically through the communication unit of the arithmetic unit. (S120) At this time, it is understood that data is transmitted from one side (user terminal 100) to the other side (computing device 200) through a wireless network such as a mobile communication network or WiFi, It should be understood that this can also be done through a network. Step S120 may also be performed by an application installed in the user terminal 100. In particular, before transmitting the image to the computing device 200, the process of logging into the computing device 200 to use the location information computing service It can be rough.

On the other hand, in step S120, the arithmetic unit of the arithmetic unit 200 that has received the image of the identification target, more specifically, the arithmetic unit of the arithmetic unit searches for the reference information to specify the position of the identification target. (S130)

The reference information refers to reference information to be compared in order to identify an object to be identified. The reference information may include modeling data and texture data, respectively. The modeling data refers to a series of data for understanding the contour of the object, and the modeling data may be composed of a large number of three-dimensional coordinates. Through the modeling data, it is possible to know the shape of the object such as whether the object is a hexahedral shape or a spherical shape, and whether concave or convex portions exist on the outer surface of the object. The texture data refers to a series of data for understanding shapes of patterns, patterns, and the like existing outside the object. The texture data may include values for representing points, lines, or colors on a two-dimensional space plane have. As an easy example, reference information for an arbitrary building may include modeling data for understanding the appearance of a rectangular parallelepiped, and texture data for understanding signboards, window patterns, window patterns, and the like present on each side of the building. At this time, there is a mapping rule between the modeling data and the texture data, and the mapping rule in the reference information in the database 300 may be included together.

In step S130, reference is made to the database 300. In this case, it is assumed that reference information such as the one described above and reference information on a plurality of objects are stored in the database 300. [ It is understood that the present invention preferably utilizes the database 300 constructed for the VWorld service as the database 300.

Hereinafter, step S130 will be described in more detail with reference to FIG. In step S130, the computing device 200 compares the image of the identification object with a plurality of reference information in the database 300 to obtain certain reference information. More specifically, in this step, the computing device 200 compares the image of the identification object with the texture data of a plurality of reference information, calculates the similarity, and if the calculated similarity value is greater than or equal to a predetermined value, .

FIG. 3 is a schematic view illustrating a process of comparing reference data by comparing an image to be identified with texture data.

For example, when it is assumed that the object to be identified is a building, the image of the object to be identified may be an image including three sides of the building. At this time, And the texture data stored in the database 300 to calculate the similarity. At this time, the shape formed on the outer wall of the building may include a shape or pattern formed by a plurality of windows, a shape or a pattern of a signboard installed on the outer wall of the building, or a unique shape of the building itself. On the other hand, the texture data to be compared with the image of the identification object can be understood as a state in which the faces of the building are developed on the plane as shown on the right side of FIG. It should be understood, however, that one form of the texture data shown in FIG. 3 is intended to facilitate understanding of the present invention and may alternatively be text only or text and image combined.

For example, the degree of similarity may be determined by comparing the number of feature points between images through a feature-based image matching technique, or by comparing the similarity between images based on the correlation, Lt; / RTI >

Meanwhile, in this step, when the calculated value of the degree of similarity is lower than a predetermined value, that is, when it is difficult to compare the image to be identified and the texture data stored in the database 300 and the degree of similarity is calculated to be significantly low The user terminal 100 may request an additional image to be identified and the user may operate the user terminal 100 to capture a new image to be identified and then transmit the image to the computing device 200 again. At this time, the computing device 200 may request the user terminal 100 to capture an image of the same object to be identified at different angles. When a plurality of images to be identified are acquired, the computing device 200 acquires a plurality of acquired objects The reference information having a high degree of similarity can be specified by performing the step S130 on the identification target image.

As described above, in step S130, the specific reference information is obtained by comparing the image of the identification object with the texture data in the database 300. When the process is completed, the calculation device 200 extracts, from the acquired reference information, That is, the accurate location information of the building can be recognized.

After step S130, the arithmetic unit 200, and more particularly, the in-arithmetic operation unit, sets a plurality of matching points between the image of the identification object and the specified reference information, more precisely, the texture data. (Step S140)

The matching point is defined as reference points for virtually matching the texture data and the modeling data of the reference information with the identification target image in order to calculate an accurate position value of the point where the user terminal 100 currently exists, It is preferable to set at least four matching points for the calculation.

Hereinafter, step S140 will be described in detail with reference to FIG. Referring to FIG. 4, step S140 may be divided into two sub-steps. The first sub-step includes first setting a matching point between the image of the identification object and the texture data, and the second sub- And extracting the matching point from the modeling data.

It is assumed that all the matching points between the image of the identification object and the texture data exist on the two-dimensional plane, and thus (x, y) in the image of the identification object and (u, v) in the texture data , And one matching point may exist in the image or texture data of the identification object corresponding to (x, y) and (u, v), respectively.

The second step is to extract the matching points that match in the modeling data from the matching points in the texture data. This is because the two-dimensional matching points like (u, v) are applied to the predetermined mapping rules between the texture data and the modeling data Dimensional coordinates to obtain the three-dimensional coordinates. For example, the matching points of (u, v) in the texture data may exist in the modeling data (X, Y, Z).

As described above, in step S140, matching points that correspond to each other between the image of the identification object and the reference information (texture data and modeling data) are set.

On the other hand, the matching point extracted in this step can be defined in advance as a point corresponding to the corner of the identification target. Specifically, points such as a corner of a window, a corner of a building, and a corner of a signboard on the texture data can be defined as a matching point. In addition, when a plurality of matching points are set, it is preferable that the matching points consist of points located as coplanar as possible, and furthermore, as the interval between the matching points becomes as narrow as possible, It is understood that the accuracy of an operation result can be increased. When the matching points are extracted on the same plane or extracted within a narrow interval, the accuracy of the calculation result can be improved because the flatness can be more assured.

After step S140, the arithmetic operation unit 200, more specifically, the arithmetic operation unit in the arithmetic unit, calculates the accurate position information value and attitude information of the user terminal 100 based on the previously set matching points. (Step S150)

Step S150 is calculated by the following equation.

[Formula 1]

s · m '= A · [R | t] · M'

(1) where s is a scale factor, m 'is a matching point coordinate value matrix of the image to be identified, A is a shared parameter matrix of the image sensor in the user terminal 100, R is a matrix of rotation values, And M 'denote the matrix of identification point coordinates of matching points in the modeling data.

The above Equation 1 can be further specified and rewritten as a determinant.

[Formula 2]

In Equation 2, s denotes a scale factor, and u and v denote coordinates in the image to be identified as described above.

On the other hand, fx and fy are values indicating intrinsic characteristics of an image sensor such as a photographing lens provided in the image sensor, that is, the user terminal 100. Preferably, fx and fy are focal lengths of the respective lenses .

For example, if the user terminal 100 is a smartphone and a specific image sensor is installed in the smartphone, cx and cy are values indicating the center coordinates of the image sensor in the user terminal 100, Indicates the coordinates of the image sensor in the smartphone. For reference, the reference coordinate system of cx and cy is the origin of the projection center of the image sensor. In general, cx and cy may be converted into an image coordinate system of a pixel unit.

Next, r11 to r33 represent rotation values, for example, values indicating how much the user terminal 100 rotates in which direction. These r values are values corresponding to the attitude information of the attitude of the user terminal 100, that is, the information about the inclination of the user terminal 100 or the direction in which the identification target is photographed.

t1 to t3 represent distances at which the image sensor in the user terminal 100, or more precisely, the user terminal 100, is located with respect to any point (preferably the center of the earth). t1 denotes the distance in the x direction, t2 denotes the distance in the y direction, and t3 denotes the distance in the z direction.

On the other hand, X to Z are coordinates indicating a point where an identification target is located in the real world.

The values of s, cx and cy are already known as unique values, and the values of u, v, X, Y, and Z are all values obtained in the previous step by the computing device 200 The values obtained by the final computation are r11 to r33 and t1 to t3, and these parameters ultimately determine the position of the image sensor in the user terminal 100, i.e., the user terminal 100, , It is specified at which position the identification target is photographed.

After all the values that can specify the position and attitude of the user terminal 100 are obtained by calculation, the computing device 200 transmits the values to the user terminal 100 to obtain accurate position information, In addition, attitude information of the user terminal 100 is also provided (step S160).

In addition, the user terminal 100 receiving the location information and attitude information from the computing device 200 can drive the installed application and provide various services utilizing the above values.

2 to 4, a location information calculation method according to the present invention and an apparatus or system for performing the location information calculation method have been described.

FIG. 5 shows another embodiment of the position information calculation method according to the present invention in order. 5 is substantially the same as the calculation method described above with reference to FIG. 2, but there are some differences in steps S120 and S130.

5, the user terminal 100 acquires not only an image to be identified acquired by the computing device 200 but also a current location of the user terminal 100 after acquiring the image to be identified (step S110) Information is also transmitted. (S125). The location information transmitted by the user terminal 100 at this time is obtained by location information acquisition means separately provided in the user terminal 100. For example, coordinates acquired by the GPS receiver, And may be a specific coordinate calculated by triangulation method.

The coordinate transmitted to the computing device 200 in step S125 is used to limit the search range when the computing device 200 searches for the reference information. If the position information can not be referred to, the arithmetic operation unit 200 will search for all the reference information stored in the database 300 in comparison with the identification target image, The arithmetic unit 200 can search only the reference information within the radius of a few meters or several tens of meters based on the corresponding position information (S135), thereby greatly reducing the burden on the arithmetic unit 200. [

6 illustrates a method of calculating positional information according to another embodiment of the present invention. The position information calculation method of FIG. 6 is also the same as that of FIG. 2 in most of the processes, but there are some differences at step S130.

The positional information calculation method of FIG. 6 may include a case in which it is determined that the reference information corresponds to the identification target even though the comparison in the identification target image and the texture data and the similarity degree calculation process are performed in step S130 It is assumed. For example, when a plurality of similarity values having the same value are calculated as a result of calculating the similarity degree between the identification object image and the texture data, or when the calculated similarity values exist within a predetermined range, It is difficult to discriminate whether the reference information corresponds to the identification object or not.

In this case, the location information calculation method according to FIG. 6 allows the calculation device 200 to provide a list including a plurality of reference information, that is, a plurality of candidate identification objects to the user after step S130 (step S136) The user can directly select the identification target (step S137).

On the other hand, the computing device 200 receiving the user selection specifies the reference information (step S138). Based on the specified reference information, the computing device 200 receives the user selection, Information operation is performed.

With reference to FIGS. 2 to 6, a method of calculating position information / attitude information based on an image acquired using a user terminal has been described.

Hereinafter, a method of updating reference information stored in a database based on an image acquired using a user terminal according to the present invention will be described.

In the present invention, when providing a service based on the reference information stored in the database, there is a difficulty in continuously updating the reference information. In the case of a building which is a representative identification object, the appearance may be changed due to remodeling of the exterior wall of the building, change of signs, etc. In this case, even if the user shoots the identification target and transmits it to the calculation device, Information / attitude information calculation is impossible.

Referring to FIG. 7, a method for updating reference information based on an identification target image taken by a user using a computing device according to the present invention will be described.

The process of updating the reference information may be included in the position information calculation process described above with reference to FIG. This can be understood, for example, to update the reference information stored in the database, more precisely the texture data, based on the photographed image if the building photographed by the user is partially repaired and there is a slight change in appearance. However, this is an example only. For example, the reference information updating process may be performed independently of the position information calculation process.

Referring to FIG. 7, there will be described a method including a reference information update process, an identification target image acquisition step S710, an identification target image transmission step S720, a reference information search and acquisition step S730, . Since steps S710 to S730 are substantially the same as steps S110 to S130 shown in FIG. 2, the description of each step will be omitted.

After the reference information is obtained, the computing device 200 sets the matching point. (S740) The matching point refers to the reference points for virtually matching the reference image obtained in step S130, that is, the texture data, as described above with reference to FIG. It is preferable that at least four matching points are set in this step, and moreover, the matching points preferably exist in the same plane among the identification targets. For example, the computing device 200 can set one face in the texture data of the acquired reference information, for example, four points on the right side of the building as a matching point, and also, on the identification target image taken by the user, It is possible to find and set matching points corresponding to four points. It is preferable that the four matching points are distributed while keeping a narrow space as possible.

Referring to FIG. 8, the left-hand image and the red / green points displayed on the right-hand side of the reference information image are examples of corresponding matching points, respectively.

After setting the matching point, the computing device 200 calculates the position information and attitude information of the user terminal. (S750) The calculation of the positional information and the attitude information is performed in substantially the same manner as the description of step S150 in FIG. The reason why this step is required in the reference information updating process is that new image data for replacing the conventional one is required for updating the texture data in the reference information. At this time, the image data, which can be obtained from the image taken by the user, Dimensional information in the captured image as it is by recognizing the identification target in the reference information as much as possible by the user based on the posture information and the position information taken by the user terminal so that the two- So that they can be replaced. This is more evident by the steps described below.

Next, the computing device 200 matches the corner point coordinates of the identification object stored in the database, i.e., the corner point coordinates of the modeling data, with the identification object in the image captured by the user. (S760) An edge point is an object to be identified, for example, a point that points to a corner of a building, and refers to a point that intersects three or more sides where a face and a face meet. In this step, in particular, there is a singular point in that an edge point in the reference information having three-dimensional coordinate information is matched with an edge point on the image, which is the two-dimensional plane information, at this time, the arithmetic unit 200 uses a three- Match the corner points between the two dimensions above. The three-dimensional projection transformation is based on the so-called pinhole camera model. The pinhole camera model is based on the fact that all light passes through a straight line and is projected onto the image plane, and the geometric relationship between the three- It simplifies. Since the three-dimensional projection transformation formula is known through various data, a detailed description thereof will be omitted in this detailed description.

Referring to FIG. 8 again, the corner points (1 to 6) are displayed on the left side image and the right side side of the identification information in the reference information, and the corner points are matched based on the pinhole camera model as described above.

Next, the arithmetic operation unit 200 updates the texture data with reference to the corner points of the object to be identified and the corner points in the photographed image in the previously matched reference information. In operation S770, the computing device 200 performs the reference information update on the identification target by transferring each surface in the image to the texture data in the reference information based on the previously found corner points.

8, a total of two planes of the building are photographed. The images of the planes are transformed by the computing device 200 to be used for replacing the reference information of the identification target, more precisely, the texture data . In step S740, a step S740 of calculating the position information / attitude information in step S750 of the reference information updating process described with reference to FIG. 7 is substantially the same as steps S140 and S150 in FIG. Step. In other words, the matching point and the position information / attitude information necessary in the process of updating the reference information can be obtained through the same steps as those described in FIG. 2, so that the reference updating provides the reference information to the user terminal, 200). In such a case, the computing device 200 can provide the user with the location information / attitude information service and at the same time update the reference information in the database to the latest state.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments. It will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the present invention.

100 user terminal
200 computing device
300 database

Claims (10)

A method for calculating position information by an arithmetic unit including an arithmetic unit and a memory,
Receiving an identification target image from a user terminal;
Obtaining reference information corresponding to the identification target image;
Setting a plurality of matching points between the image of the identification object and the modeling data included in the reference information; And
Calculating position information and attitude information of the user terminal using the plurality of matching points and a predefined formula;
/ RTI >
The predefined formula is:
s · m '= A · [R | t] · M'
(Where s is a scale factor, m 'is a matching point coordinate value matrix of the image to be identified, A is a shared parameter matrix of the image sensor in the user terminal, R is a matrix of rotation values, t is a matrix of movement values, M 'Is the matched point coordinate value matrix of the identification target)
sign,
Location information calculation method. The method according to claim 1,
Wherein the step of acquiring the reference information corresponding to the identification-
Comparing the texture data of the plurality of reference information stored in the database with the identification target image, and acquiring the reference information when the comparison result is greater than or equal to a predetermined value,
Location information calculation method. 3. The method of claim 2,
And transmitting the plurality of reference information to the user terminal and specifying one reference information in accordance with a selection input received from the user terminal when the reference information having a similarity value equal to or greater than a preset value is plural,
Location information calculation method. The method according to claim 1,
Wherein the step of receiving an identification target image from the user terminal further comprises receiving current position information from the user terminal,
Wherein the obtaining of the reference information corresponding to the identification object image is performed based on the received current position information in a limited range of the plurality of reference information stored in the database,
Location information calculation method. delete The method according to claim 1,
Wherein the identification target image includes an exterior wall surface of the building,
Wherein a plurality of matching points in the identification target image are extracted from arbitrary points existing on an outer wall surface of the building,
Location information calculation method. The method according to claim 6,
Wherein the identification object image comprises a first exterior wall surface and a second exterior wall surface of the building,
Wherein a plurality of matching points in the image to be identified include at least one of any of the points present on the first outer wall surface and any of the points existing on the second outer wall surface.
Location information calculation method. A method for calculating position information by an arithmetic unit including an arithmetic unit and a memory,
Receiving an identification target image from a user terminal;
Obtaining reference information corresponding to the identification target image;
Setting a plurality of matching points between the image of the identification object and the modeling data included in the reference information;
Calculating position information and attitude information of the user terminal using the plurality of matching points and a predefined formula;
Matching a plurality of corner points between the modeling data and the image of the identification object; And
Updating the texture data included in the reference information with reference to the image of the identification object on the basis of the matched corner points;
/ RTI >
Location information calculation method. A communication unit for receiving an image of an identification object from a user terminal;
A reference point corresponding to the image of the object to be identified is acquired, a plurality of matching points are set between the image of the object to be identified and the modeling data included in the reference information, and using the plurality of matching points and the pre- An operation unit for calculating a position value of the user terminal; And
Memory;
Lt; / RTI >
The predefined formula is:
s · m '= A · [R | t] · M'
(Where s is a scale factor, m 'is a matching point coordinate value matrix of the image to be identified, A is a shared parameter matrix of the image sensor in the user terminal, R is a matrix of rotation values, t is a matrix of movement values, M 'Is the matched point coordinate value matrix of the identification target)
sign,
Position information calculation device. 10. The method of claim 9,
The operation unit,
Comparing the texture data of the plurality of reference information stored in the database with the identification target image in obtaining the reference information corresponding to the identification target image, and when the comparison result is greater than or equal to a predetermined value, To acquire,
Position information calculation device.

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