KR101925289B1 - Method and apparatus for identifying location/angle of terminal - Google Patents

Abstract

The present invention relates to a method and apparatus for identifying a position and / or angle of a terminal using a marker image including a plurality of reference points. A method for identifying a position and / or angle of a terminal using a marker image including a plurality of reference points, the method comprising: obtaining the marker image; extracting a plurality of reference points included in the marker image; And measuring the marker image and the inter-terminal distance d using a vertical line formed by the first reference point and the second reference point. According to the present invention, the position and the angle of the terminal can be simultaneously measured through simple image processing, and the position and the angle of the terminal can be easily identified without a device such as a motion sensor, a GPS module and a laser. It can be effectively used for implementation.

Description

METHOD AND APPARATUS FOR IDENTIFYING LOCATION / ANGLE OF TERMINAL [0002]

The present invention relates to a method and apparatus for identifying a position / angle of a terminal, and more particularly, to a method and apparatus for identifying a position and / or an angle of a terminal using a marker image including a plurality of reference points.

Recent electronic devices are increasingly equipped with functions. In particular, in the case of a portable terminal device, a voice call or a video call is mainly used in the past. In recent years, however, the execution of an application program has become a main function rather than a call function in a portable terminal device.

Particularly, the performance of the processor built in the portable terminal is enhanced, and information available to the terminal is rapidly increased as the number of sensors provided in the terminal increases. Based on the technological progress, an application program such as augmented reality It was possible.

Augmented Reality is a technology that creates a new environment by combining the real world that the user sees with the virtual world with additional information. The augmented reality registers the three-dimensional virtual image on the real image that the user is viewing, so that the distinction between the real environment and the virtual environment becomes ambiguous. Virtual reality technology allows a user to be immersed in a virtual environment, and the real environment can not be seen. However, augmented reality technology, which is a mixture of real environment and virtual objects, allows the user to see the real environment and provides better reality.

The most important thing in the augmented reality is the matching degree, which means that the terminal must be able to accurately identify the user's position and movement.

The most commonly used method for identifying the location of a terminal is GPS-based location measurement technology. In a room where GPS information is difficult to utilize, a beacon-based positioning technique is used.

As a method of identifying the movement of the terminal, there is a technique of sensing motion using a geomagnetic sensor, an acceleration sensor, and a gyroscope sensor attached to the terminal. It is easy to measure the angle of change because the sensor can identify the amount of change of motion. However, since this is a relative value, it is difficult to see the technique using the multi-axis sensor as a method of increasing the image matching with the virtual object.

In addition, a technique for identifying the position or angle of a terminal using a laser has been disclosed in the past, but the sensor or laser is sensitive to noise and has a disadvantage that the accuracy can be lowered.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a terminal position / angle identification method and apparatus capable of simultaneously measuring a position and an angle of a terminal through simple image processing.

It is another object of the present invention to provide a method for easily identifying a position and an angle of a terminal without using an apparatus such as a motion sensor, a GPS module, and a laser.

It is another object of the present invention to provide a method for increasing the accuracy of position and angle measurement of a terminal.

According to another aspect of the present invention, there is provided a method for identifying a position and / or angle of a terminal using a marker image including a plurality of reference points, the method comprising: acquiring the marker image; Extracting a reference point, and measuring a distance d between the marker image and the terminal using a vertical line formed by the first reference point and the second reference point.

Further, the present invention provides an apparatus for identifying a position and / or angle of a terminal using a marker image including a plurality of reference points, the apparatus comprising: a camera unit for obtaining the marker image; a plurality of reference points included in the marker image; A controller for measuring the marker image and the inter-terminal distance d using a vertical line formed by the first reference point and the second reference point, a reference pixel number of a vertical line obtained by taking a reference angle at a reference position, And a display unit for displaying the marker image and providing a guide for obtaining the marker image.

According to the present invention as described above, the position and the angle of the terminal can be simultaneously measured through simple image processing.

In addition, according to the present invention, the position and angle of a terminal can be easily identified without a device such as a motion sensor, a GPS module, and a laser.

In addition, according to the present invention, accuracy of position and angle measurement of a terminal can be improved.

1 is a block diagram illustrating a configuration of a terminal position / angle identification apparatus according to an embodiment of the present invention.
FIG. 2 is a block diagram illustrating a configuration of a controller of a terminal position / angle identification apparatus according to an embodiment of the present invention;
3 is a view for explaining a marker image according to an embodiment of the present invention,
4 is a view for explaining a method of identifying a terminal location / angle according to an embodiment of the present invention;
FIG. 5 is a flowchart illustrating a method of identifying a terminal location / angle according to an embodiment of the present invention.
FIG. 6 is a flowchart illustrating a method of measuring a marker image-to-terminal distance according to an embodiment of the present invention.
FIG. 7 is a flowchart illustrating a method of measuring a marker image-to-terminal horizontal angle according to an embodiment of the present invention;
8 is a diagram for explaining the relationship between the distance and the number of pixels.

The above and other objects, features, and advantages of the present invention will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings, which are not intended to limit the scope of the present invention. In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail.

In the drawings, the same reference numerals are used to designate the same or similar components, and all combinations described in the specification and claims can be combined in any manner. It is to be understood that, unless the context requires otherwise, references to singular forms may include more than one, and references to singular forms may also include plural forms.

The terminology used herein is for the purpose of describing particular illustrative embodiments only and is not intended to be limiting. Singular representations as used herein may also be intended to include a plurality of meanings, unless the context clearly dictates otherwise. The terms " and / or " " and / or " include any and all combinations of the items listed therein. The terms "comprises," "comprising," "including," "having," "having," "having," and the like have the implicit significance, Steps, operations, elements, and / or components, and does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / Steps, processes, and operations of the methods described herein should not be construed as necessarily enforcing their performance in such specific order as discussed or illustrated unless specifically concluded the order of their performance . It should also be understood that additional or alternative steps may be used.

In addition, each of the components may be implemented as a hardware processor, the components may be integrated into one hardware processor, or a combination of the components may be implemented as a plurality of hardware processors.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is a block diagram illustrating a configuration of a terminal position / angle identification apparatus according to an embodiment of the present invention. FIG. 2 illustrates a configuration of a controller of a terminal position / angle identification apparatus according to an embodiment of the present invention. Fig. 1 and 2, a terminal position / angle identification apparatus according to an exemplary embodiment of the present invention may include a camera unit 130, a controller 150, a database unit 170, and a display unit 190 have.

The camera unit 130 acquires a marker image. The camera unit 130 includes a lens and an image sensor, and can acquire an image in addition to the marker image.

The control unit 150 may extract a plurality of reference points included in the marker image and measure the marker image and the inter-user distance d using a vertical line formed by the first reference point and the second reference point. In this case, the plurality of reference points may be arranged so that the figure connecting the plurality of reference points forms a part or all of the right triangle.

For example, when the marker image includes three reference points a, b, and c as shown in FIG. 3, each reference point may be disposed at a position where the straight line ab and the straight line ac are perpendicular to each other.

A, b, and c are positioned at vertexes of a right triangle, or a, b, and c are vertices of a right triangle, even if the marker image includes four reference points a, b, .

 The marker image may have been taken at the same height as the previously designated reference point. For example, it may be an image taken at the same height as a or an image taken at the same height as b. Guide information on the shooting height may be provided through the display unit 190 to obtain a marker image necessary for accurate position / angle identification.

The controller 150 can measure the marker image and the horizontal angle of the terminal using the horizontal line formed by the two reference points among the plurality of reference points.

More specifically, the control unit 150 may include an image analysis unit 153, an operation unit 155, an angle correction unit 156, a direction determination unit 157, and a position calculation unit 159.

The image analyzer 153 may calculate the number of pixels of the vertical line and / or the number of pixels of the horizontal line in the marker image. Also, the reference point can be extracted from the marker image through image processing. The reference point may have a predetermined shape or pattern. For example, it may be a figure such as a rectangle, a circle or the like apart from a predetermined interval as shown in FIG. 3, or may be a predetermined code.

The operation unit 155 can calculate the distance d using the number of reference pixels and the number of pixels of the vertical line obtained at the reference angle at the reference position and the reference distance between the reference position and the marker image.

Operation unit 155 is the horizontal angle by using in an embodiment for measuring the horizontal angle between the UE and the marker image, the number of pixels in the horizontal line calculated in the reference pixel can ab _hrz and image analysis section 153 of the horizontal line corresponding to the reference position ab _v beta _p can be calculated as shown in Equation (1). In this case, the reference position may be a position perpendicular to the horizontal line and a distance from the predetermined horizontal angle reference point to a distance between the terminal and the horizontal angle reference point.

For example, let's say that the horizontal line 4 the number of pixels in the _v ab ab shown in and, ab _hrz the number of reference pixels of the horizontal line corresponding to the reference position. The reference position is a position perpendicular to the horizontal line and a distance between the predetermined horizontal angle reference point and a distance between the terminal and the horizontal angle reference point.

4, the reference position is a distance that is equal to the distance d between the terminal 100b and the horizontal angle reference point a, and is a point perpendicular to the horizontal line ab when the terminal position is 100b and the horizontal angle reference point is a, 100a.

If the horizontal angle reference point is set to a point other than a, for example, the middle point M of the horizontal line ab, the reference position is perpendicular to the horizontal line ab in M and the distance from the horizontal angle reference point (M) Which is the same as the distance 1 between the terminal 100b and the horizontal angle reference point M, will be 100a. In this case, the distance l is obtained by using MM 'shown in FIG. 3 in the same way as the distance between ac and the terminal 100b is obtained by using ac, and the distance l is obtained by calculating the distance l from the front of the horizontal angle reference point M ) Point 100a as a reference position.

In another embodiment, when a certain point on the horizontal line ab is set as the horizontal angle reference point, the distance d from the terminal measured based on the vertical line ac to the terminal 100b is not determined separately from the horizontal angle reference point It can also be used. This is based on the fact that no significant error occurred due to the experimental results. Simplifying the computation allows for faster processing, so you can choose a processing method that takes into account the priority between accuracy and processing speed.

Illustrated <A> of Figure 4 and <B> all, when the number of pixels at the horizon as seen from the reference point (100a) that ab _hrz, β _p in the standard position (100a) The number of pixels ab _{v on the} horizontal line viewed from the terminal position 100b shifted by a _distance of ab _{h rz} cos ( _p ). Therefore,? _P is calculated as shown in Equation (1).

The angle correcting unit 156 can correct the horizontal angle calculated by the calculating unit 155. [ An angle correction unit (156) to the number of pixels in the vertical line ac _v, the number of pixels of the horizontal line ab _v, the actual length of the horizontal line ab _real and β _f horizontal angle correction value length using the ac _real of the actual vertical line as shown in Equation (2) .

The angle correcting unit 156 can correct the horizontal angle? _P using the horizontal angle correction value? _F thus calculated, and the corrected horizontal angle? _C can be calculated as shown in Equation (3).

The direction determination unit 157 can determine whether the horizontal angle has a positive value or a negative value based on the horizontal angle reference point included in the marker image using the fifth reference point c and the sixth reference point d . In the example of FIG. 3, the horizontal angle reference point is set to the middle point (M) of the horizontal line formed by the third reference point a and the fourth reference point b.

Referring to FIG. 3, the direction determination unit 157 determines whether or not the length A of the vertical line formed by the third reference point a and the fifth reference point c, the vertical line connecting the fourth reference point b and the sixth reference point d If A is greater than or equal to B, it is determined that the horizontal angle has a negative value. If A is less than B, it can be determined that the horizontal angle has a positive value.

(X1-x3) ² > = (x2-x3) ² , the direction determination unit 157 determines that the user (terminal) is located at the center of the marker image The direction determining unit 157 determines that the horizontal angle? _C has a negative value. If ^{(x1-x3) 2 <(} x2-x3) 2 is, the direction determination unit 157, the user (terminal), a determination is made on the right side from the center of the marker image, and thus the direction determination unit 157 is the horizontal angle β it is determined that _c has a positive value.

Since the horizontal angle calculated by the calculation unit 155 and the angle correction unit 156 has a positive value, the direction determination unit 157 determines whether the horizontal angle is a negative number or a positive number, Identify the correct direction.

The position calculation unit 159 can calculate the coordinate value of the terminal using the coordinates of the marker image, the distance d, and the horizontal angle. The coordinates of the marker image may be any one of the coordinates of one or more reference points included in the marker image. Since the distance d and the horizontal angle between the terminal and the marker image are calculated using the reference point, It is possible to easily obtain the coordinate values of

In calculating the distance between the marker image and the inter-terminal distance, the marker image, and the inter-terminal horizontal angle in the above-described embodiment, the criteria referred to by the terminal position / angle identification apparatus 100 may be slightly different in distance and horizontal angle calculation. For example, when calculating the horizontal angle, the horizontal angle reference point is used as a reference. When calculating the distance d between the marker image and the terminal, the distance can be measured based on the vertical line ac of the marker image.

However, since the coordinates of the horizontal angle reference point and the reference points forming the vertical line ac are all stored in the database unit 170, if the arbitrary coordinates are preset as 'marker image coordinates' representing the marker image, The distance or angle between the reference point, the marker image coordinate, and the reference point forming the vertical line can be derived. Therefore, even if the reference point of the distance measurement differs from the reference point of the horizontal angle calculation, it is possible to easily derive the coordinate values of the terminal based on the coordinates of the marker image, the horizontal angle, the marker image, .

The database unit 170 may store the number of reference pixels of a vertical line and the number of reference pixels of a horizontal line obtained by photographing at a reference angle at a reference position. In addition, the database unit 170 stores coordinate values set as coordinates of the reference point included in the marker image and 'coordinates of the marker image'. In addition, the database unit 170 stores information necessary for the operation and the like of each configuration of the terminal position / angle identification apparatus of the present invention described above in advance.

The display unit 190 may display a marker image and provide a guide for acquiring the marker image. For example, the marker image acquired by the camera unit 130 for position / angle identification of the terminal may be photographed at the same height as a preset reference point. In this case, there is a possibility that the user may not know at which height the marker image should be acquired. Therefore, the display unit 190 displays the guide figure on the screen, thereby guiding the photographing so that a preset reference point is included in the figure displayed on the screen .

Alternatively, the display unit 190 may display a guide for guiding the user to shoot a marker image at a specific height, such as 'align a line on the screen with a reference point a'.

Hereinafter, a terminal location / angle identification method according to an embodiment of the present invention will be described with reference to FIG. 5 to FIG.

Referring to FIG. 5, the terminal acquires a marker image including a plurality of reference points (S100), and extracts a plurality of reference points included in the marker image (S200). Next, the terminal measures the distance d between the marker image and the terminal using the vertical line formed by the first reference point and the second reference point (S300).

Since the terminal stores the coordinate information of the marker image, position information of the terminal can be obtained by identifying the marker image, the inter-terminal distance d, the marker image, and the inter-terminal horizontal angle.

The plurality of reference points included in the marker image may be arranged so that a figure connecting the plurality of reference points forms a part or all of the right triangle. For example, the reference points a, b, and c shown in FIG. 3 are arranged so that the straight line ab and the straight line ac are perpendicular to each other. The figure connecting the reference points a, b, and c forms a right triangle.

Preferably, the marker image may be taken at the same height as the predefined reference point, and the predefined reference point may be a reference point included in the horizontal line or a reference point included in the vertical line. This is because, when acquiring the marker image at the predetermined height, it is not necessary to consider the vertical angle, and more accurate position / angle information of the terminal can be obtained. Also, since it is not easy to determine from which height the user has acquired the marker image even if the vertical angle is measured, the terminal provides a guide through which the user can shoot the marker image at a predetermined height, The marker image may be used to identify the location / angle of the terminal in accordance with an embodiment of the present invention.

In step 300, the terminal computes the number of pixels of the vertical line as shown in FIG. 6 (S310), and calculates the distance d by using the number of reference pixels of the vertical line and the number of pixels of the vertical line obtained by photographing at the reference distance (S330)

The number of pixels of the vertical line included in the marker image is not affected by the marker image and the horizontal angle between the terminals, and is influenced only by the distance between the marker image and the terminal. That is, irrespective of the direction of the terminal, if a vertical line is photographed close to the terminal, the number of vertical lines included in the photographed marker image will be large, and as the vertical line is photographed from afar, the number of vertical lines included in the marker image will be small .

This inversely means that the distance can be calculated by calculating the number of pixels of the vertical line in the marker image. The terminal can take a marker image at an arbitrary distance to calculate the number of pixels on the vertical line, and generate a table of pixel number per reference distance. For example, if the number of pixels on a vertical line is 1, d equals 20 meters, and if the number of pixels is 1000, d equals 10 centimeters. The pixel count table for each reference distance may be generated for each pixel, and may be generated by reflecting characteristics of a lens or an image sensor.

In calculating the distance d, the terminal calculates the distance by referring to the pixel number table for each reference distance. In this case, the terminal calculates the number of pixels of the vertical line, searches for a reference distance matching the number of pixels, The distance can be calculated.

In another embodiment, the terminal can calculate the reference distance by substituting the number of pixels of the vertical line calculated in the function formula indicating the relationship between the reference distance and the number of pixels. Since the relationship between the distance between the terminal and the marker image and the number of pixels is as shown in FIG. 8 (x: pixel number, y: distance between the terminal and the marker image), the terminal has a form similar to that shown in FIG. And the distance d can be calculated by substituting the number of pixels of the vertical line into the function. It can be understood that the function stored in the terminal reflects the characteristics of the camera included in the terminal such as the pixels of the camera included in the terminal.

After measuring the distance, the terminal may measure the horizontal angle between the marker image and the terminal using the horizontal line formed by one or more reference points included in the marker image (S400). Step 400 may be performed in a manner as shown in FIG. First, the terminal computes the number of pixels on the horizontal line (S410), and calculates the horizontal angle using the number of reference pixels on the horizontal line and the number of pixels on the horizontal line calculated in operation 410 (S430).

For example, let's say that the horizontal line 4 the number of pixels in the _v ab ab shown in and, ab _hrz the number of reference pixels of the horizontal line corresponding to the reference position. The number of reference pixels of the horizontal line corresponding to the reference position means the number of pixels of the horizontal line included in the marker image taken at the reference position. Horizontal angle β _p in the step 430 The reference position may be a position perpendicular to the horizontal line and a distance from the predetermined horizontal angle reference point to a distance equal to the distance between the terminal and the horizontal angle reference point.

For example, let's say that the horizontal line 4 the number of pixels in the _v ab ab shown in and, ab _hrz the number of reference pixels of the horizontal line corresponding to the reference position. The reference position is a position perpendicular to the horizontal line and a distance between the predetermined horizontal angle reference point and a distance between the terminal and the horizontal angle reference point.

4, the reference position is a distance that is equal to the distance d between the terminal 100b and the horizontal angle reference point a, and is a point perpendicular to the horizontal line ab when the terminal position is 100b and the horizontal angle reference point is a, 100a.

If the horizontal angle reference point is set to a point other than a, for example, the middle point M of the horizontal line ab, the reference position is perpendicular to the horizontal line ab in M and the distance from the horizontal angle reference point (M) Which is the same as the distance 1 between the terminal 100b and the horizontal angle reference point M, will be 100a. In this case, the distance l is obtained by using MM 'shown in FIG. 3 in the same way as the distance between ac and the terminal 100b is obtained by using ac, and the distance l is obtained by calculating the distance l from the front of the horizontal angle reference point M ) Point 100a as a reference position.

In all <A> illustrated in FIG. 4 and <B>, the number of pixels at the horizon as seen from the reference position (100a) at the reference position (100a) when said ab _hrz β _p The number of pixels ab _{v on the} horizontal line viewed from the terminal position 100b shifted by a _distance of ab _{h rz} cos ( _p ). Therefore,? _P is calculated as shown in Equation (1).

In step 450, the terminal number, the pixels of vertical lines to correct the horizontal angle ac _v, above the horizontal angle correction value β _f by using the number of pixels ab _v, the actual length ab _real and actual length ac _real of the vertical line of the horizontal line of the horizontal lines [ Can be calculated as shown in Equation (2). Then, the corrected horizontal angle? _C can be obtained by correcting the horizontal angle? _P using the horizontal angle correction value? _F as shown in Equation (3).

When the step 400 of measuring the horizontal angle using the horizontal line is completed, the terminal can determine the direction of the horizontal angle. In step S400, the terminal obtains a positive value or a negative value from the predetermined horizontal angle reference point using the plurality of reference points because the acquired value is the horizontal angle.

3, the terminal calculates the length A, the fourth reference point b and the sixth reference point d of the vertical line formed by the third reference point a and the fifth reference point c, If A is greater than or equal to B, it is determined that the horizontal angle has a negative value. If A is less than B, it can be determined that the horizontal angle has a positive value.

That is, referring to the coordinates of each reference point shown in FIG. 3, if (x1-x3) ² > = (x2-x3) ² , the terminal determines that the user (terminal) Therefore, the terminal determines that the horizontal angle? _C has a negative value. If (x1-x3) ² < (x2-x3) ² , the terminal determines that the user (terminal) is located at the right side of the center of the marker image and accordingly the terminal determines that the horizontal angle? _C has a positive value .

The horizontal angle β _p or Since β _c is of a positive value, the UE finally so by determining whether the horizontal angle is negative, if positive, to identify the exact orientation of the terminal looking up the marker image.

Finally, the terminal can calculate the coordinates of the terminal using the coordinates of the marker image, the distance d, and the horizontal angle (S600). The coordinates of the marker image may be any one of the coordinates of one or more reference points included in the marker image. Since the distance d and the horizontal angle between the terminal and the marker image are calculated using the reference point, So that the coordinate values of the terminal can be easily derived.

In this specification, the method of calculating the position and angle of the terminal using the vertical line or the number of pixels of the horizontal line formed by the reference point has been described. However, in another embodiment, in calculating the distance between the marker image and the terminal, not only the vertical line included in the marker image It is also possible to use the number of pixels of the reference point itself.

The methods described herein may be implemented by one or more computer programs executed by one or more processors. Computer programs include processor-executable instructions stored on a non-transitory type computer readable medium. The computer programs may also include stored data. Non-limiting examples of non-transitory tangible computer readable media are non-volatile memory systems, magnetic storage, and optical storage.

Certain embodiments of the techniques described above include processing steps and instructions described herein in an algorithmic form. The processing steps and instructions described above may be implemented in software, firmware, or hardware, and when implemented in software, may be downloaded to reside on other platforms used in real-time network operating systems And it can be operated from there.

The present invention also relates to an apparatus for performing the operations herein. Such a device may be specially constructed for a desired purpose or may comprise a general purpose computer selectively activated or reconfigured by a computer program stored on a computer readable medium that can be accessed by a computer. Such a computer program may be stored on a computer-readable storage medium of a type, such as, for example, floppy disks, optical disks, CD-ROMs, magneto-optical disks (ROMs), random access memories (RAMs), EPROMs, EEPROMs, magnetic or optical cards, application specific integrated circuits ASICs), or any type of medium suitable for storing electronic instructions and each coupled to a computer system bus, but are not so limited. Moreover, the computers referred to herein may include a single processor, or may be architectures that use multiple processor designs to enhance computing capabilities.

The algorithms and operations presented herein are not inherently related to any particular computer or other devices. Various general purpose systems may also be used with the programs according to the teachings herein or it may prove convenient to construct devices that are more specifically designed to perform the steps of the desired method. The structure required for a variety of these systems, along with their equivalent variants, will be apparent to those skilled in the art. Additionally, the present disclosure is not described in connection with any particular programming language. It should be understood that various programming languages may be used to implement the teachings of the present disclosure as described herein, and that any reference to a particular language is intended to be illustrative of the embodiments and best mode of the present invention.

Some embodiments omitted in this specification are equally applicable if their implementation subject is the same. It is to be understood that both the foregoing general description and the following detailed description of the present invention are exemplary and explanatory and are intended to be exemplary and explanatory only and are not restrictive of the invention, The present invention is not limited to the drawings.

100: Position / angle identification device

Claims (24)

A method for identifying a position and / or an angle of a terminal using a marker image including a plurality of reference points,
Obtaining the marker image;
Extracting a plurality of reference points included in the marker image;
Measuring the marker image and the terminal-to-terminal distance d using a vertical line formed by the first reference point and the second reference point;
Measuring a horizontal angle of the terminal using the marker image and the horizontal line formed by the third reference point and the fourth reference point,
The step of measuring the horizontal angle
Calculating a number of pixels ab _v of the horizontal line;
Number of reference pixels of the horizontal line corresponding to the reference position and the terminal position ab _hrz / angle identifying comprises the step of calculating the azimuth angle β _p, using the number of pixels in the horizontal line ab _v.
The method according to claim 1,
The plurality of reference points
Wherein the figure connecting the plurality of reference points is arranged to form a part or all of a right triangle.
The method according to claim 1,
The marker image
Wherein the terminal is photographed at the same height as the predetermined reference point.
The method according to claim 1,
Measuring the distance d comprises:
Calculating a number of pixels of the vertical line;
And calculating the distance d using the number of reference pixels of the vertical line and the number of pixels of the vertical line obtained by photographing at a reference distance.
The method according to claim 1,
And calculating the coordinate value of the terminal using the coordinates of the marker image, the distance d, and the horizontal angle.

The method according to claim 1,
Wherein the reference position is perpendicular to the horizontal line and a distance from a predetermined horizontal angle reference point is the same as a distance between the terminal and the horizontal angle reference point.
The method according to claim 1,
Wherein the horizontal angle beta _p is calculated by the following equation:

The method according to claim 1,
Calculating the horizontal angle correction value? _F using the number of pixels of the vertical line ac _v , the number of pixels ab _v of the horizontal line, the actual length ab _real of the horizontal line, and the actual length ac _real of the vertical line;
The horizontal angle correction value β _f to the terminal position / angle identification further comprising the step of correcting the azimuth angle β using the _p.
9. The method of claim 8,
Wherein the horizontal angle correction value? _F is calculated by the following equation.

The method according to claim 1,
Determining whether the horizontal angle has a positive value or a negative value from a predetermined horizontal angle reference point using the fifth reference point and the sixth reference point,
Wherein,
Comparing a length A of a vertical line formed by the third reference point and the fifth reference point with a length B of a vertical line formed by the fourth reference point and the sixth reference point;
If A is greater than or equal to B, it is determined that the horizontal angle has a negative value,
Determining that the horizontal angle has a positive value if A is less than B;
An apparatus for identifying a position and / or an angle of a terminal using a marker image including a plurality of reference points,
A camera unit for acquiring the marker image;
The marker image and the inter-terminal distance d are measured using a vertical line formed by the first reference point and the second reference point, and a horizontal line formed by the third reference point and the fourth reference point is A controller for measuring the marker image and the horizontal angle of the terminal using the marker image;
A database unit for storing the number of reference pixels of a vertical line and the number of reference pixels of a horizontal line obtained by photographing at a reference angle at a reference position;
And a display unit for displaying the marker image and providing a guide for acquiring the marker image,
Wherein the control unit comprises: an image analyzer for calculating the number of pixels ab _v of the horizontal line;
Number of reference pixels of the horizontal line corresponding to the reference position and the terminal position ab _hrz / angle identification device comprising a computing unit for calculating the horizontal angle β _p, using the number of pixels in the horizontal line ab _v.
12. The method of claim 11,
The plurality of reference points
Wherein the figure connecting the plurality of reference points is arranged to form a part or all of a right triangle.
12. The method of claim 11,
The marker image
Wherein the reference position is photographed at the same height as the predetermined reference point.
12. The method of claim 11,
The control unit
An image analyzer for calculating the number of pixels of the vertical line;
And calculating the distance d using the number of reference pixels of the vertical line and the number of pixels of the vertical line obtained by photographing at a reference distance.
12. The method of claim 11,
The control unit
And a position calculating unit for calculating a coordinate value of the terminal using the coordinates of the marker image, the distance d, and the horizontal angle.
12. The method of claim 11,
Wherein the reference position is perpendicular to the horizontal line and a distance from a predetermined horizontal angle reference point is equal to a distance between the terminal and the horizontal angle reference point.
12. The method of claim 11,
Wherein the horizontal angle beta _p is calculated by the following equation.

12. The method of claim 11,
The control unit
The vertical lines of pixels ac _v, the number of pixels in the horizontal line ab _v, the actual length of the horizontal line by using the ab _real and length ac _real of the real number line calculating the horizontal angle correction value β _f, and using the horizontal angle correction value β _f And an angle correcting unit for correcting the horizontal angle? _P.
19. The method of claim 18,
Wherein the horizontal angle correction value? _F is calculated by the following equation.

12. The method of claim 11,
The control unit
The fifth reference point, and the sixth reference point to determine whether the horizontal angle has a positive value or a negative value based on a predetermined horizontal angle reference point,
The direction determination unit may determine,
The length A of the vertical line formed by the third reference point and the fifth reference point and the length B of the vertical line formed by the fourth reference point and the sixth reference point are compared and if the A is greater than or equal to B, And determines that the horizontal angle has a positive value when the A is smaller than the B value.
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