KR101856151B1 - An portable apparatus for gathering indoor positioning infra information - Google Patents

Abstract

A portable collection device for collecting video and non-video positioning infra information is disclosed. The portable collection device for collecting video and non-video positioning infra information includes: a camera arrangement part capable of mounting a plurality of video cameras in all directions; and a frame part for supporting the camera arrangement part. The camera arrangement part comprises at least one arrangement plate for installing a plurality of cameras in parallel so as to obtain a 360 degree two-dimensional image in a horizontal direction. It is possible to acquire only necessary information quickly and economically.

Description

Field of the Invention [0001] The present invention relates to a portable collection device for collecting indoor positioning infrastructure information,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a technique for collecting indoor positioning infrastructure information, and more particularly, to a technique for collecting indoor positioning infrastructure information and constructing a positioning infrastructure DB in an indoor space.

As the information and communication technology (ICT) technology has developed rapidly due to the increase of smart devices, various applications such as social networking services (SNS), navigation and friend searching have been developed and interest in LBS And demand is gradually increasing.

 Most LBS has been provided with satellite navigation since 1996, when the GPS (Global Positioning System) was opened to the public. Nowadays, anyone can easily use LBS such as destination inquiry and traffic situation guide by using navigation. However, there is a disadvantage that the GPS-based LBS is difficult to use in the shaded areas or indoors where the GPS signals do not reach.

 The need for providing LBS in increasingly complex and enormous indoor environments is increasing, and a variety of technologies are being studied. Infrared (IrDA), Ultrasonic, UWB (Ultra WideBand) positioning technologies using local area communication technology can overcome the above problems of GPS technology and provide accurate positioning results of several meters. However, these technologies have the disadvantage of installing a separate infrastructure at extra cost to provide location services. Therefore, it takes a lot of cost to collect the positioning infrastructure for each indoor space, which causes the degradation of the overall usability of the indoor location-based service. In addition, although the beacon and NFC technology, which are recently popular, can provide a high precision position in the order of several centimeters in the case of contact type NFC according to the reception range, the production and installation cost of the dedicated reader and terminal tag is much larger than the expected return cost, Point is a constraint on the diffusion of dedicated positioning infrastructure.

However, Wi-Fi (Wireless Fidelity) is attracting much attention because it can provide LBS without constructing a separate infrastructure. The reason why Wi-Fi-based positioning technology is attracting attention is that it is easy to reuse existing hardware, low introduction cost, and easy to install and change structure. One of the biggest strengths is that anyone can easily access the LBS using smartphones that have become popular recently.

 To provide such LBS, we first need to build a database consisting of Wi-Fi APs. A widely used construction method is a fingerprint database construction method. The fingerprint database method is a method of vectorizing the information of Wi-Fi signals received at each point in the room and database it into a unique value. In the location service, the received Wi-Fi accesses the database, estimates the most similar vector, and displays the location corresponding to the vector as the current location.

However, the positioning technique using the Wi-Fi fingerprint database may cause the intensity of the received Wi-Fi signal to change depending on the real-time state of the surrounding objects such as the door being opened and closed, and the re- There is a problem of positioning performance deterioration due to interference of the nearby radio environment.

Accordingly, there is a demand for a technology for collecting infrastructure information for indoor positioning and a database construction technique to supplement the above.

KR 101217770 B1 KR 101691302 B1

Prior to providing location-based services indoors, it is necessary to collect resources that can be utilized when estimating locations in an indoor environment, and it is essential to acquire information necessary for constructing infrastructures quickly and economically.

As an economic benefit, Wi-Fi databases, which are currently most widely used for indoor positioning services, are suitable for navigation location services but may be interfered with by surrounding obstacles or other wireless signals. It is necessary to construct existing Wi-Fi AP and image database at the same time in order to utilize image positioning service which is strong against interference and has high accuracy through geometric positioning method in order to supplement and expand service area.

Therefore, in order to improve the location service in the indoor area and to expand the service area, it is necessary to construct a video / non-video positioning database at the same time.

The present invention collects omnidirectional two-dimensional images, collects wireless communication infrastructure information such as Wi-Fi, NFC, and BLE, physical information such as terrestrial system and pressure, collects physical information such as pedestrian- We propose a portable collection device and a database construction method for indoor positioning which improves collector position accuracy by combining measurement methods.

A portable collection device for collecting information on a video and non-video positioning infrastructure according to an embodiment of the present invention includes: a camera arrangement unit capable of mounting a plurality of video cameras in all directions; And a frame part for supporting the camera arrangement part. The camera arrangement part includes at least one arrangement plate for installing a plurality of cameras in parallel so as to obtain a 360-degree two-dimensional image in a horizontal direction.

The frame portion may be mountable to the collector, and the anteroposterior angle of the frame portion may be adjustable.

Wherein the at least one arrangement plate is detachable from the camera arrangement, and the at least one arrangement plate includes a vertical arrangement plate and a horizontal arrangement plate, the number of image cameras which can be installed on the vertical arrangement plate, The number of possible video cameras can be different from each other.

A method for constructing a positioning infrastructure DB in an indoor space using a collecting device according to an embodiment of the present invention includes collecting non-image positioning infrastructure information at each collecting position of the collecting device while the collecting device is moving through a user terminal, Collecting image positioning infrastructure information at each acquisition position through the plurality of image cameras; Determining a location of the moved device based on the pedestrian guided navigation (PDR) using the physical information collected at the user terminal; Mapping the video positioning infrastructure information and the non-video positioning infrastructure information to data on collected positions; And generating a database for positioning in the indoor space using the data.

A method for constructing a positioning infrastructure DB in an indoor space using a collecting device according to another embodiment of the present invention includes collecting positioning infrastructure information at each collecting position during movement of the collecting device through a user terminal, Collecting image positioning infrastructure information at a collection position through the plurality of image cameras; Determining a position of the collection device with respect to each frame of the image using a visual distance measurement method (Visual Odometry) based on the image positioning infrastructure information; Mapping the plurality of images and the positioning infrastructure information to data on a collected position based on the position of the detected device; And creating a database for positioning in the indoor space using the data.

A positioning method in an indoor space using a positioning infrastructure DB according to an exemplary embodiment of the present invention includes collecting image information and non-image information corresponding to a position of the mobile terminal in a mobile terminal; Transmitting the collected image information and non-image information to a server through a communication network; Comparing the received image information with a previously constructed image positioning database, returning a first position value, comparing the received non-image information with a pre-established non-image positioning database, and returning a second position value; Calculating the accuracy of the first position value by the image positioning and the accuracy of the second position value by the non-image positioning, and comparing the calculated second position value with each other, and transmitting the more accurate position to the mobile terminal.

The present invention can provide a complex positioning database capable of positioning various resources indoors. For example, it is possible to build a video / non-imaging database quickly and easily against the characteristics of various collection sites. By using the constructed positioning database, it is possible to utilize not only the positioning using Wi-Fi but also the positioning of the image, so that the positioning performance can be supplemented and the service can be expanded.

Since the omnidirectional two-dimensional image is directly constructed through a plurality of cameras in a short period of time through the present invention, compared with the conventional art in which a three-dimensional image is constructed and then converted into a two-dimensional image, You can save a lot of time and money.

Further, by improving the type and quality of the collected information through the present invention, it is possible to improve the positioning accuracy and the range of the positioning service in the room. When the indoor positioning infrastructure information collection technology provided by the present invention is used, it is possible to collect various infrastructure resources that can be utilized for indoor positioning at a low cost, We can expect to create new markets for the industry and expand existing markets.

1 is a schematic structural diagram of a portable positioning infrastructure acquisition apparatus according to an embodiment of the present invention.
2 is a diagram showing a frame portion of a portable positioning infrastructure acquisition apparatus according to an embodiment of the present invention.
3 is a diagram showing a camera arrangement of a portable positioning infrastructure acquisition apparatus according to an embodiment of the present invention.
4 is a flowchart illustrating a method of collecting positioning infrastructure information in an indoor space by a collecting device according to an exemplary embodiment of the present invention.
5 is a flowchart illustrating a method of collecting positioning infrastructure information in an indoor space by a collecting device according to another embodiment of the present invention.
6 is a conceptual diagram illustrating time synchronization of image data, non-image data, and position data according to the present invention.
7 is a flow diagram illustrating a method for using a database constructed by a collection method in accordance with an embodiment of the present invention.

Hereinafter, preferred embodiments according to the present invention will be described in detail with reference to the accompanying drawings. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The following detailed description, together with the accompanying drawings, is intended to illustrate exemplary embodiments of the invention and is not intended to represent the only embodiments in which the invention may be practiced. The following detailed description includes specific details in order to provide a thorough understanding of the present invention. However, those skilled in the art will appreciate that the present invention may be practiced without these specific details.

In some instances, well-known structures and devices may be omitted or may be shown in block diagram form, centering on the core functionality of each structure and device, to avoid obscuring the concepts of the present invention.

Throughout the specification, when an element is referred to as "comprising" or " including ", it is meant that the element does not exclude other elements, do. Also, the terms " part, "" module," and " module ", etc. in the specification mean a unit for processing at least one function or operation and may be implemented by hardware or software or a combination of hardware and software have.

The specific terminology used in the following description is provided to aid understanding of the present invention, and the use of such specific terminology may be changed into other forms without departing from the technical idea of the present invention.

Reliable positioning resource collection is essential for providing reliable LBS. The apparatus according to an embodiment of the present invention can stably and simultaneously collect images and non-images for collection of an indoor positioning database. Also, the acquisition location of video and non-video may be obtained using a smartphone and / or a dedicated acquisition device.

In the positioning infrastructure information collection technology to which the present invention is applied, an image means an image collected through an image camera.

In the positioning infrastructure information collection technology to which the present invention is applied, non-video means Wi-Fi, BLE, acceleration, gyro, magnetic, air pressure, etc. collected from the sensor of the user terminal.

1 is a schematic structural view of a portable positioning infrastructure acquisition apparatus 100 according to an embodiment of the present invention.

A collecting device (100) according to an embodiment of the present invention is a portable collecting device for collecting information on video and non-video positioning infrastructure, including: a camera arrangement part (110) capable of mounting a plurality of video cameras all over the place; And a frame unit 120 for supporting the camera arrangement unit 110. The camera arrangement unit 110 may be provided with a plurality of cameras in parallel so as to obtain 360-degree two-dimensional images in a horizontal direction.

The frame 12 of the collecting apparatus 100 according to an embodiment of the present invention may be in the form of a backpack that the pedestrian 10 can wear in order to respond to stairs,

In another embodiment of the present invention, the collecting apparatus 100 includes an image collecting unit for collecting image resources, a non-image collecting unit for collecting non-image resources, a camera arranging unit 110 for supporting the omnidirectional camera, And a frame portion 120 that supports and is mountable to the collector. In this case, the image collecting unit may be a small image camera in order to increase the operability of the collecting equipment and minimize the weight and size. Also, the small-sized image camera may preferably be an action cam that can attenuate the shake.

In addition, the image collecting unit may include a plurality of cameras in order to maximize the image collecting area with respect to time. For example, four cameras, eight cameras, twelve cameras, or sixteen cameras can be mounted in parallel across 360 degrees.

The non-image collection unit for collecting non-image resources may include a predetermined user terminal 132, for example, a smart phone with various sensors.

The collecting device 100 according to an embodiment of the present invention is preferably a portable collecting device with a single collector 10 and can be used for measurement together with a smartphone possessed by the collector 10 .

It is necessary to collect the image positioning data and the non-image positioning data in order to collect the indoor positioning database according to the embodiment of the present invention.

For example, a user terminal, such as a smart phone, may be used to collect non-imaging location data. The smartphone is basically equipped with various sensors (Wi-Fi, Barometer, Magnetic, Gyro, Accelometer, etc.) related to positioning.

Also, omni-directional image cameras mounted on the camera arrangement unit 110 may be used to collect image positioning data. For example, it is possible to capture a moving image of 30 fps or more in each image camera, and acquire each image frame of the moving image through post-processing.

The portable collection device 100 for collecting positioning infrastructure information according to an embodiment of the present invention may further include a cradle 130 connected to a frame unit. The holder 130 may be installed on one or both of the handle portions of the collector. The holder 130 may be mounted on a user terminal 132, for example, a smart phone. The collector can collect sensor data such as BLE, Wi-Fi, acceleration, gyro, geomagnetism, and air pressure using the sensors included in the smartphone, The step of the PDR can be detected and used as the PDR data. The smartphone installed in the cradle 130 may be any one having the aforementioned sensor. 2 is a schematic structural view showing a frame portion of a portable positioning infrastructure acquisition apparatus according to an embodiment of the present invention.

Figure 2 (a) is a front view of a portable positioning infrastructure acquisition device, and Figure 2 (b) is a side view of a portable positioning infrastructure acquisition device.

The frame part 120 according to an embodiment of the present invention may be a backpack-type frame that can be attached to a photographer. At this time, the fore and aft angle of the frame unit 120 can be adjusted to correct the horizontal degree according to different postures for each collector type. For example, the collecting device manufactured according to one embodiment can adjust the degree of tilting according to the posture characteristics of each collector from 5 degrees to 15 degrees up and down through the hinge located at the middle portion of the frame portion, have. Such adjustment may be performed by loosening the screws on both sides of the frame portion 120, adjusting the hinge, and tightening the screws again.

The frame part may include a handle (not shown), thereby securing the stability of the operation of the equipment while moving. The frame portion may also be ergonomically designed for attachment to the collector to minimize shudder of the collecting device 100 during collection, and the lower end portion 121 of the frame portion may optionally be mounted on a floor Can be produced.

Figure 3 shows a camera arrangement 110 of a portable positioning infrastructure acquisition device in accordance with an embodiment of the present invention. 3 (a) shows a schematic structure of a camera arrangement part. Referring to FIG. 3 (a), there are shown sixteen video cameras 111 arranged vertically on the vertical arrangement board 115.

The camera arrangement unit 110 according to an embodiment of the present invention can mount a plurality of video cameras 111 in parallel all over the entire area. Referring to Figure 3 (a) The camera arrangement unit 110 arranges 16 video cameras in all directions. However, the number of video cameras can be adjusted according to the situation, and is not limited to the illustrated example.

The camera arrangement unit 110 may include a vertical arrangement board 115 and / or a horizontal arrangement board 116 for installing a plurality of cameras so as to obtain 360-degree omni-directional images. The vertical arrangement plate 115 is provided with a plurality of cameras vertically, and the horizontal arrangement plate 116 horizontally arranges a plurality of cameras.

Referring to FIG. 3 (b), the vertical arrangement plate 115 of the camera arrangement portion is shown. The vertical arrangement board 115 can mount up to 16 cameras at a predetermined interval with respect to all directions (360 degrees). At this time, the field of view per one camera can be at least 52 degrees up and down, . When the camera is installed vertically, the upside and downside can have a wide angle of view, as compared with a case where the camera is installed horizontally.

3C, for example, up to eight cameras can be mounted at regular intervals. At this time, the field of view per one camera is at least 34 degrees in the up and down direction and 52 degrees in the left and right direction . When installing the camera horizontally, it is possible to reduce the number of cameras installed as compared with the case where the camera is installed vertically.

According to an embodiment of the present invention, the horizontal arrangement plate 116 or the vertical arrangement plate 115 of the camera arrangement unit 110 may be separated from the frame unit 120. [ The vertical arrangement plate 115 and the horizontal arrangement plate 116 are separately formed, thereby facilitating the exchange between the vertical arrangement plate 115 and the horizontal arrangement plate 116 and facilitating equipment transportation.

The camera arrangement unit 110 may adjust the angles of the cameras constituting the omni-directional up and down (not shown) in order to acquire a desired scene according to the collection destination. For example, each camera support of the camera placement portion may be flip-up vertically. According to one embodiment, the camera arrangement unit 110 can flip up and down each camera up and down by 40 degrees, change the angle by 5 degrees, and confirm the displacement angle through the scale.

According to an embodiment of the present invention, images can be simultaneously captured from a plurality of cameras mounted on a camera arrangement unit. The photographed images are stored in a memory included in each camera, and can be synchronized through post-processing. Alternatively, the photographed images may be transmitted from the respective cameras to the server through the communication network, and may be processed and synchronized in real time.

4 is a flow chart showing a method by which the collection device 100 collects positioning infrastructure information in an indoor space.

A positioning infrastructure information collection method according to an embodiment of the present invention includes: acquiring a position of a collector based on a pedestrian guided navigation (PDR) using physical information collected at a user terminal carried by a collector; Acquiring non-image positioning infrastructure information at the location through a user terminal and collecting image positioning infrastructure information at the location through the plurality of image cameras; Mapping the video positioning infrastructure information and the non-video positioning infrastructure information to data on the location; And generating a database for positioning in the indoor space using the data.

The collecting apparatus 100 according to an embodiment of the present invention may be mounted on the collector with the plurality of video cameras 111 installed and may be moved along with the collector 10 on foot.

When the collecting apparatus 110 is moved to collect positioning infrastructure information, the non-image positioning infrastructure information is collected through a user terminal carrying the collector, and the image positioning infrastructure information is collected through a plurality of image cameras (s401). That is, the collector 10 collects images of all directions through the plurality of image cameras 111 while moving, and at the same time, various sensor information such as acceleration, gyro, magnetic, Wi-Fi (Wi- , Air pressure, and Bluetooth signals.

Using the physical information collected at the user terminal, the position of the collector at each collection time is determined based on the pedestrian guided navigation (PDR) (s402). This allows the location where each image and non-image data is collected to be determined.

The location of the collector can be determined using the pedestrian guided navigation (PDR) technique. Pedestrian Guidance Navigation (PDR) is a method of measuring the relative position of a pedestrian based on the sensor of a smartphone. In order to grasp the position of the pedestrian based on the pedestrian guided navigation (PDR), initial position information, map information of the corresponding area, and motion information at the time of walking are necessary. That is, relative position calculation is possible as a method of grasping the distance and direction in which the pedestrian moved from the designated position. Factors for identifying the movement during walking include information about the direction of the pedestrian, the number of steps, and step information for each step. This information can be obtained from the sensor output value of the smartphone carried by the pedestrian. Specifically, it is possible to detect a step by using acceleration, magnetic field, and angular velocity information appearing when a pedestrian moves, and to determine a walking direction and a walking direction of the pedestrian.

Specifically, four sensors are typically required to calculate the relative position of the collector. Among them, acceleration, geomagnetism and gyro sensor are built in smartphone, and gravity sensor is a virtual sensor made by applying low pass filter to accelerometer output. It compensates the acceleration, geomagnetism, and gyro sensor output by measuring the inclination of the smartphone that the pedestrian possesses.

Therefore, it is possible to estimate how much the pedestrian has moved in what direction by synthesizing the sensor information. To obtain an absolute coordinate value other than the relative movement distance, map information having coordinates for the corresponding collection area is required.

Next, the collected image positioning infrastructure information and the non-image positioning infrastructure information are mapped to data on the position (s403). It is necessary that the image information at the point where the image is captured and the sensor information of the non-image collection unit are mapped to the position of the collected moment and stored together.

For example, to receive a Wi-Fi AP using a Wi-Fi receiving sensor and synchronize with a step detection algorithm to utilize a Wi-Fi signal for positioning, the corresponding Wi-Fi is stored as log data for each step detection, Thereby establishing a video positioning database.

An absolute time synchronization method may be used to map the image data. For example, it is possible to confirm the step detection and the Wi-Fi data storage time recorded in the log and synchronize the images photographed at the corresponding time to construct the image database.

At this time, the above-described method can be used to synchronize the smartphone with the plurality of video cameras, but the present invention is not limited thereto. For example, without synchronizing the smartphone with a plurality of video cameras in real time, the collected sensor results and the data of the video camera can be synchronized through post-processing so as to correspond to the positions.

Next, a database for positioning in the corresponding indoor space is created using the mapped data (s404). That is, the collected image and non-image information are converted into a database in a form that can be utilized for position location.

5 is a flowchart illustrating a method of collecting positioning infrastructure information in an indoor space by a collecting apparatus 100 according to another embodiment of the present invention.

According to another aspect of the present invention, there is provided a positioning infrastructure information collecting method including: collecting positioning infrastructure information through a user terminal and collecting a plurality of images photographed by the plurality of video cameras; Determining a position of an acquirer for each frame of the image using a visual distance measurement method through at least one image of the plurality of images; Mapping the plurality of images and the positioning infrastructure information to data on a photographed position based on the position of the identified collector; And creating a database for positioning in the indoor space using the data.

When the collecting apparatus 110 is moved for collecting the positioning infrastructure information, the positioning infrastructure information is collected through the user terminal and a plurality of images photographed by the plurality of image cameras are collected (s501). In order to minimize the attitude information error, it is desirable that the collector maintains the horizontal posture as much as possible. The posture information will be described later.

Then, a collection position for each frame of the image is determined using a visual distance measurement method (s502) through at least one image among the plurality of images. In this way, a visual distance measurement method (Visual Odometry) can be used in addition to the pedestrian guided navigation (PDR) for collecting location. Visual Odometry is a process of determining the location and direction by analyzing camera images taken continuously. By applying the visual distance measurement method, the camera movement can be recognized, so that the relative camera movement between two consecutive frames can be grasped. This enables more precise position measurement of the acquirer through continuous images using standard motion models. It is a technique to acquire position information by using image tracking technology. It returns the relative position value of the camera coordinate system instead of the real world coordinate system. Therefore, in order to utilize it, it is necessary to convert it into a real coordinate system. Conventional visual distance measurement techniques have been used for wheeled vehicles, but as related technologies have developed, they have become applicable to non-standard motion methods such as walking on a legged robot or human walking. For more information on visual distance measurement methods, see the following two papers.

1. Direct Sparse Odometry (J. Engel, V. Koltun, D. Cremers), 2016.

2. A Photometrically Calibrated Benchmark For Monocular Visual Odometry (J. Engel, V. Usenko, D. Cremers), 2016.

The pedestrian measurement method and / or the visual distance measurement method may be used to calculate the position of the collector in this way.

Next, the collected image positioning infrastructure information and the non-image positioning infrastructure information are mapped to data on calculated positions (s503). Since there are a plurality of images collected from a plurality of image cameras at the calculated position, it is necessary to map them. That is, it is necessary to integrate a plurality of images into one image at the same time and position. In order to make a database using collected images, attitude information values of a plurality of cameras are required. In order to acquire the attitude information of a plurality of cameras, a reference angle is required for one camera. Therefore, one camera should look at an angle direction which is physically known, and accordingly the attitude information of the remaining cameras can be relatively calculated. Specifically, each camera has x, y, z, and roll, pitch, and yaw attitude information values. When collecting, you can know the radius of rotation of each camera based on the direction of the collector in the map.

According to an embodiment of the present invention, in order to map an image by a plurality of image cameras, the mobile terminal and the plurality of image cameras are synchronized, and the sensor data of the extracted mobile terminal and the images of each of the plurality of image cameras are mapped Can be produced as a single result.

According to an embodiment of the present invention, images photographed by a plurality of cameras may be stored in respective SD cards installed in respective cameras and post-processed. However, the present invention is not limited to this, and an image photographed by each camera may be transmitted to a server through a high-speed data network and processed in real time or post-processed.

In the present invention, the result obtained through the above-described process is captured by the plurality of image cameras, and the collected data, the coordinate of the photographing position, and the sensor data-indoor position matching the coordinates are collected And data that can be utilized.

Next, a database for positioning in the indoor space is created using the mapped data (s504). The collected image data and non-image data are stored in a database and can be used for positioning in the room. The databaseization may preferably be performed by a server providing a location database.

FIG. 6 illustrates a concept of time synchronization of video, non-video, and location data according to an embodiment of the present invention. According to an embodiment of the present invention, the database for positioning can be constructed in synchronization with the time of the collection position.

Referring to FIG. 6, the path along which the collecting device 100 has traveled is shown as a continuous point. Each point may indicate the position of the collecting device and the time at which the collecting device was in that position. When time synchronization is performed, the position data, the image data, and the non-image data of the time at the corresponding point are synchronized at each point.

For example, when a point located at the center of the points shown in Fig. 6 is enlarged upward, non-image data, position data, and image data corresponding to one point exist. At this time, the position data can be extracted from the non-image data using the PDR algorithm as described above.

That is, the image data photographed at a specific position and the collected non-image data can be constructed in a database. For example, it is possible to generate an image database in which image data is classified according to collection positions, and a non-image database in which non-image data is classified according to collection positions. It is also possible to create an integrated database that integrates a video database and a non-video database.

Once the database for the generated positioning is constructed, it can be used to grasp the current position of the user based on the degree of image input by the user or the non-image information.

FIG. 7 is a flowchart illustrating a method of using a video / non-video integrated database constructed by a collecting method according to an embodiment of the present invention.

When the database is constructed by the gathering method according to the present invention, the user located in the space where the database is constructed can grasp the location of the user using the image information and non-image information of the mobile terminal in possession.

First, the mobile terminal collects image information and non-image information corresponding to the position of the terminal (S701). The image information may be collected through a front or back camera of the mobile terminal. The non-image information can be obtained through various sensors of the mobile terminal. For example, Wi-Fi, BLE, acceleration, gyro, magnetic, barometric pressure information can be obtained through the sensor of the mobile terminal.

The mobile terminal transmits the collected image information and non-image information to a server through a communication network (S702). In this case, the communication network may be Wi-Fi, Bluetooth, 3G, 4G, LTE, or the like, which is a communication method used by the mobile terminal.

The server returns the first position value based on the received image information and the constructed image positioning database, and returns the second position value based on the received non-image information and the constructed non-image positioning database (s703). Specifically, when the image information and the non-image information collected by the mobile terminal are transmitted to the server, the server returns the position value based on the constructed image / non-image positioning database, respectively.

At this time, the image positioning starts when the user transmits the image taken by the mobile terminal to the server. According to one embodiment of the present invention, the video positioning can utilize a video positioning platform using the MPEG7 CDN (Compact Descriptors for Visual Search) standard of Italy Telecom. MPEG7 CDVS, a high performance image search technology standard optimized for mobile devices, is suitable for image based location aware platforms because it is easy to build and search huge image database. When the image taken by the user is delivered to the CDVS server, the reference image and feature point matching in the database are performed through the Scale Invariant Feature Transform (SIFT) algorithm, and the coordinates of the most matched image are returned.

The non-image positioning starts when the user transmits the data collected by the sensor of the mobile terminal to the server. For example, the non-image positioning is performed by comparing Wi-Fi received by the user's mobile device with the received signal strength indication (RSSI) values of the database APs in a database constructed by a fingerprint method, Can return.

The server calculates the positional accuracy by the image positioning and the positional accuracy by the non-image positioning, compares them with each other, and transmits a more accurate position value to the mobile terminal (s704). Therefore, the user can utilize both the image positioning database and the non-image positioning database to know his position more accurately.

For example, using a single existing Wi-Fi Fingerprint database can result in poor positioning performance due to signal interference. However, in case of indoor positioning using additional images, it is possible to perform accurate positioning using the image even in this section.

Through the present invention, it is possible to quickly and effectively construct a video and non-video database for indoor positioning. The technology that uses the image for the conventional indoor positioning creates a 3D image using a camera and a laser, and then converts it into a two - dimensional image, which is then compared with a photograph taken by the user. However, according to an embodiment of the present invention, since the two-dimensional image is directly constructed through a plurality of cameras in a short period of time, it is not necessary to construct a three-dimensional image and convert the two-dimensional image again. Therefore, according to the present invention, time and cost for constructing an image database for indoor positioning can be reduced, compared with the conventional technique of converting a three-dimensional image into a two-dimensional image again.

The embodiments described above are those in which the elements and features of the present invention are combined in a predetermined form. Each component or feature shall be considered optional unless otherwise expressly stated. Each component or feature may be implemented in a form that is not combined with other components or features. It is also possible to configure one embodiment of the present invention by combining some of the elements and / or features. The order of operations described in one embodiment of the present invention may be varied. Some configurations or features of certain embodiments may be included in other embodiments, or may be replaced with corresponding configurations or features of other embodiments. It is clear that the claims that are not expressly cited in the claims may be combined to form an embodiment or be included in a new claim by an amendment after the application.

Embodiments in accordance with the present invention may be implemented by various means, for example, hardware, firmware, software, or a combination thereof. In the case of hardware implementation, an embodiment of the present invention may include one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs) field programmable gate arrays, processors, controllers, microcontrollers, microprocessors, and the like.

In the case of an implementation by firmware or software, an embodiment of the present invention may be implemented in the form of a module, a procedure, a function, or the like which performs the functions or operations described above. The software code can be stored in memory and driven by the processor. The memory is located inside or outside the processor and can exchange data with the processor by various means already known.

It will be apparent to those skilled in the art that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. Accordingly, the foregoing detailed description is to be considered in all respects illustrative and not restrictive. The scope of the present invention should be determined by rational interpretation of the appended claims, and all changes within the scope of equivalents of the present invention are included in the scope of the present invention.

Claims (6)

A portable collection device for collecting information about video and non-video positioning infrastructure,
A camera arrangement unit for mounting a plurality of video cameras in all directions;
And a frame part for supporting the camera arrangement part,
Wherein the camera arrangement unit includes at least one arrangement plate capable of installing a plurality of image cameras in parallel so as to obtain 360-degree two-dimensional images in a horizontal direction,
Wherein the at least one disposable plate is separable from the camera disposition,
Wherein the at least one layout board includes a vertical layout board and a horizontal layout board and the number of video cameras that can be installed on the vertical layout board and the number of video cameras that can be installed on the horizontal layout board are different from each other, A portable collection device for collection.
The method according to claim 1,
Wherein the frame part is mountable to the collector, and the front-back angle of the frame part is adjustable, for collecting positioning infrastructure information in an indoor space.
A method for constructing a positioning infrastructure database in an indoor space using the apparatus according to claim 1,
Collecting non-image positioning infrastructure information at each collection position during movement of the collection device through a user terminal and collecting image positioning infrastructure information at each collection position through the plurality of image cameras;
Determining a position of the collection device at a collection point of time based on a pedestrian speculation navigation (PDR) using non-image location infrastructure information collected at the user terminal;
Mapping the video positioning infrastructure information and the non-video positioning infrastructure information to data on a collected position based on a position at a collection time of the collecting apparatus; And
And creating a database for positioning in the indoor space using the mapped data. ≪ RTI ID = 0.0 > 11. < / RTI >
A method for constructing a positioning infrastructure database in an indoor space using the apparatus according to claim 1,
Collecting positioning infrastructure information at each collection position during movement of the collection device through a user terminal and collecting image positioning infrastructure information at each collection position through the plurality of image cameras;
Determining a position of the collecting device with respect to each frame of the image using a visual distance measurement method (Visual Odometry) based on the image positioning infrastructure information;
Mapping the plurality of images and the positioning infrastructure information to data on collected positions based on the position of the detected device;
And creating a database for positioning in the indoor space using the mapped data. ≪ RTI ID = 0.0 > 11. < / RTI >
A positioning method in an indoor space using a positioning infrastructure database according to claim 3 or 4,
Collecting image information and non-image information corresponding to a position of the mobile terminal in a mobile terminal;
Transmitting the collected image information and non-image information to a server through a communication network;
Comparing the collected image information with a pre-established image positioning database, returning a first position value, comparing the collected non-image information with a previously constructed non-image positioning database, and returning a second position value;
Calculating and comparing the accuracy of the returned first position value and the accuracy of the returned second position value to transmit a more accurate position to the mobile terminal.
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