KR20150083190A - Device and method for calculating position value - Google Patents

Abstract

A method for calculating a position value of a point in a certain space using a device for calculating a position comprises the steps of: acquiring images in which a specific structure which composes a certain space is photographed through photographing at the point; acquiring distance data between the point and the specific structure through sensing at the point; determining a reference point of the specific structure based on the acquired images and distance data; and calculating a position value of the point using the position value of the determined reference point.

Description

TECHNICAL FIELD [0001] The present invention relates to a position value calculation apparatus and method,

More particularly, the present invention relates to an apparatus and method for calculating a position value of a point within a predetermined space, and an apparatus and method for calculating a position value of a point moved within a predetermined space will be.

Location Determination Technology refers to a technology that uses a Global Positioning System (GPS) or utilizes a base station location in a wireless network to determine the exact location of a device that requested a location service.

Generally, a triangulation method is widely used in which the distance to three GPS satellites or sensors is respectively measured and the moving direction and position of the moving object are determined by using the measured values.

However, there is a problem in that the accuracy of the measured position value is degraded in an environment (for example, indoor) where signals are difficult to be transmitted and received between the GPS satellite and the moving object.

In order to overcome such a problem, a technology for tracking the position of a moving object by using various sensors (for example, an acceleration sensor, a compass sensor, a gyroscope sensor or the like) .

Korean Patent Publication No. 2011-0068340 (entitled " Inertial sensor-based indoor positioning device and method thereof ") discloses an inertial sensor (e.g., an acceleration sensor and a gyro sensor) based on GPS position information, (For example, a user's walking pattern, a rotation pattern, and a vertical movement pattern) to indoor positioning values, and corrects the indoor positioning errors by applying the user's patterns to the positioned indoor positioning values.

Some embodiments of the present invention provide an apparatus and method capable of calculating a position value in an environment difficult to position with existing equipment such as GPS based on the image obtained through the camera and the distance information obtained through the distance sensor It has its purpose.

It should be understood, however, that the technical scope of the present invention is not limited to the above-described technical problems, and other technical problems may exist.

According to an aspect of the present invention, there is provided an apparatus for calculating a position value of a point within a predetermined space according to an embodiment of the present invention, A camera for acquiring a photographed image of the structure; A distance sensor for obtaining distance information between the one point and the specific structure through sensing at the one point; A reference point determining unit for determining a reference point for the specific structure based on the obtained image and distance information; And a position value calculation unit for calculating a position value of the one point by using the determined position value of the reference point.

In addition, a method of calculating a position value of one point within a predetermined space using the position value calculation apparatus according to an embodiment of the present invention is characterized in that a specific structure forming the predetermined space is photographed Acquiring a captured image; Obtaining distance information between the one point and the specific structure through sensing at the one point; Determining a reference point for the specific structure based on the obtained image and distance information; And calculating a position value of the one point using the determined position value of the reference point.

According to another aspect of the present invention, there is provided an apparatus for calculating a position value of a point within a predetermined space, the apparatus comprising: a camera for acquiring a photographed image of a specific structure constituting the predetermined space through shooting at one point; A distance sensor for obtaining distance information between the one point and the specific structure through sensing at the one point; A reference point determining unit for determining a reference point for the specific structure based on the obtained image and distance information; A first position value calculation unit for calculating a first position value of the one point using the determined position value of the reference point; A second position value calculation unit for calculating a second position value of the one point by using information obtained from at least one of an inertial sensor, GPS, and a global positioning system (GNSS); And a position value determiner for calculating a final position value of the one point through a mixed navigation method for comparing and analyzing the first position value and the second position value with each other.

According to another aspect of the present invention, there is provided an apparatus for calculating a position value of a point moved within a predetermined space, the apparatus comprising: A camera for acquiring at least two images of a specific structure forming a predetermined space; A reference point determining unit for determining a reference point for the specific structure on the contour of the specific structure detected from the obtained image; Comparing the first pixel including the determined reference point in the image photographed at the first point with the second pixel including the determined reference point in the photographed image at the second point, A movement amount calculating unit for calculating a movement amount of the object; And a position value calculation unit for calculating a position value of the second point using the position value of the first point, the calculated movement distance, and the movement direction.

A method of calculating a position value of a point moved within a predetermined space by using a position value calculation apparatus according to another embodiment of the present invention includes moving from a first point to a second point in the predetermined space Acquiring at least two images in which a specific structure constituting the predetermined space is photographed through sequential shooting; Determining a reference point for the specific structure on the contour of the specific structure detected from the acquired image; Comparing the first pixel including the determined reference point in the image photographed at the first point with the second pixel including the determined reference point in the photographed image at the second point, ; And calculating a position value of the second point using the position value of the first point, the calculated moving distance, and the moving direction.

The position value calculation device and the calculation method according to the present invention can determine the position of a specific structure based on the obtained image and distance information, It is possible to accurately calculate the position value of one point in a predetermined space in which a large amount of light is generated.

In addition, the position value calculation apparatus and the calculation method according to any one of the embodiments of the present invention can calculate a movement amount of a reference point determined at two different points in the captured image to determine whether the position can be confirmed using GPS or the like, It is possible to accurately calculate the position value of the moved point within a predetermined space.

1 is a view showing a predetermined space and a point within the space,
FIG. 2 is a block diagram illustrating the configuration of a position value calculation apparatus according to an embodiment of the present invention. FIG.
FIG. 3 is a flowchart showing each step of a position value calculation method according to an embodiment of the present invention,
4 is a diagram showing an example of detection of a contour line or tangent line and determination of a reference point for a specific structure from an image,
5 is a view showing an example of acquiring distance information between a point in a predetermined space and a specific structure;
FIG. 6 is a block diagram illustrating the configuration of a position value calculation apparatus according to another embodiment of the present invention. FIG.
7 is a view showing a predetermined space and a point before and after the movement in the space;
FIG. 8 is a block diagram illustrating a configuration of a position value calculation apparatus according to another embodiment of the present invention. FIG.
9 is a flowchart showing each step of a position value calculation method according to another embodiment of the present invention,
10 is a diagram showing an example for specifically explaining the moving distance and the moving direction of the reference point,
11 is a diagram showing another example for specifically explaining the moving distance and the moving direction of the reference point.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings, which will be readily apparent to those skilled in the art. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. In order to clearly illustrate the present invention, parts not related to the description are omitted, and similar parts are denoted by like reference characters throughout the specification.

Throughout the specification, when an element is referred to as "comprising ", it means that it can include other elements as well, without excluding other elements unless specifically stated otherwise.

The location value calculation apparatus proposed by the present invention is not limited to a specific type, performance, form, or the like, but may be implemented as a portable terminal or a computer. It may be a portable type apparatus having excellent dynamic characteristics such as a vehicle .

Here, the portable terminal is, for example, a portable communication device with guaranteed portability and mobility, such as a Personal Communication System (PCS), a Global System for Mobile communications (GSM), a Personal Digital Cellular (PDC) PDA (Personal Digital Assistant), IMT (International Mobile Telecommunication) -2000, Code Division Multiple Access (CDMA) -2000, W-Code Division Multiple Access (W-CDMA), WiBro (Wireless Broadband Internet) Phone), and the like, for example. In addition, the computer may include, for example, a notebook, a desktop, a laptop, a tablet PC, a slate PC, and the like, each of which is equipped with a web browser (WEB Browser)

1 is a view showing a predetermined space and one point in the space.

The predetermined space may be a space in which the location can not be confirmed or a lot of positioning error occurs by using GPS (Global Positioning System), GNSS (Global Navigation Satellite System), INS (Inertial Navigation System) Indoor space, underground space, internal space which is difficult to communicate with a satellite, and the like. In addition, the predetermined space may be composed of a plurality of structures (for example, walls, columns, ceilings, floors, interior products, furniture, etc.) including specific structures to be described later.

The point (1) may be an arbitrary point within a predetermined space, and the positional value of one point (1) measured using GPS or the like may be inaccurate and large.

Hereinafter, each configuration of the position value calculation apparatus 100 will be described in detail with reference to FIG. 1 and FIG. FIG. 2 is a block diagram illustrating a configuration of a position value calculation apparatus according to an embodiment of the present invention. Referring to FIG.

The position value calculation apparatus 100 includes a camera 110, a distance sensor 120, a reference point search unit 130, and a position value calculation unit 140 do.

The camera 110 can acquire a captured image of a specific structure constituting a predetermined space through shooting at one point (1) in a predetermined space. In other words, the image obtained through the camera 110 may show a part or whole shape of at least one structure, and any one of the structures may be a specific structure.

The distance sensor 120 can acquire distance information between a point (1) and a specific structure through sensing at a point (1) in a predetermined space. The distance sensor 120 may be implemented using an ultra wide band wave or an ultrasonic wave and may calculate distance information between a specific structure in an image obtained through the camera 110 and a point (1) in a predetermined space Can be obtained. A plurality of reference points of a specific structure may have different depth values or height values for one point (1), and thus may have different distance values.

The reference point determining unit 130 can determine a reference point for a specific structure based on the image obtained from the camera 110 and the distance information obtained from the distance sensor 120. [ The reference point may be a point that can represent a feature of a specific structure and may be subjected to a process of detecting a feature or line of a specific structure before the reference point is determined. In addition, various conventional image processing techniques and matching techniques may be applied to the reference point determination unit 130. [

The position value calculation unit 140 may calculate a position value of a certain point in the predetermined space (1) using the determined position value of the reference point. The position value calculation unit 140 may use various coordinate systems and may perform an operation for displaying the calculated position value in connection with a user interface (not shown).

The database 150 for a predetermined space may store stereoscopic metadata for a specific structure generated in real time based on the image and distance information.

In addition, the database 150 may accumulate the real-time analysis results of the reference point determination unit 130 and the position value calculation unit 140, and may update various data including the newly added metadata. In this case, the reference point determination unit 130 may acquire the image and distance information obtained from the database 150 and the meta data stored in the database 150, May be compared and matched to determine a reference point for a particular structure.

In addition, the database 150 may be included in the position value calculation apparatus 100 as shown in FIG. 2, or may be connected to the position value calculation apparatus 100 in a wired or wireless manner to transmit / receive various data.

Hereinafter, a method of calculating a position value of a certain point (1) in a predetermined space using the position value calculation apparatus 100 according to an embodiment of the present invention will be described in more detail with reference to FIG. 3 I want to explain.

FIG. 3 is a flowchart showing each step of a position value calculation method according to an embodiment of the present invention.

First, the position value calculation apparatus 100 can acquire a photographed image of a specific structure constituting a predetermined space through shooting at one point (1) in a predetermined space (S1100).

In addition, the position calculation apparatus 100 may acquire distance information between a certain point in the predetermined space (1) and a specific structure through sensing at one point (1) (S1200).

Based on the image obtained in step S1100 and the distance information obtained in step S1200, the position calculating apparatus 100 may determine a reference point for the specific structure (S1300).

At this time, stereoscopic (3D) metadata for a specific structure can be generated in real time based on the acquired image and distance information, and a reference point for a specific structure can be determined using the generated metadata.

Hereinafter, the steps S1100, S1200, and S1300 will be described in detail with reference to FIGS. 4 and 5. FIG.

4 is a diagram showing an example of detection of a contour line or a tangent line and determination of a reference point for a specific structure from an image.

The first drawing of FIG. 4 is an image of a wall surface X, which is a specific structure forming a predetermined space.

The retrieving step S1300 may include detecting contours l, m, n, o, p, q for a specific structure X from the obtained image, as in the second drawing of Fig.

The searching step S1300 is a step of searching for a line x 'in which a specific structure X is in contact with a ceiling surface of a predetermined space or a line x " The line (x ') with which the specific structure (X) and the ceiling face contact can be projected to the floor surface or vice versa, and the line can be detected based on this projection process.

4, the position value calculation apparatus 100 calculates the position of the reference point (a) on the line q by using the detected contour line (q) or line and the distance information to be described with reference to FIG. 5 together A, B, C, D).

5 is a view showing an example of acquiring distance information between a point within a predetermined space and a specific structure.

The above-described step S1200 is a method of detecting a plurality of points including a point (1) in a predetermined space and a reference point (A, B, C, D) for a specific structure through sensing at one point The distance information between points can be obtained. For example, the distance a between the first point A and the first reference point A is 1.54 m, the distance b between the second reference points B is 1.72 m, and the distance between the third reference points C (c) is 1.7 m, and the distance d between the fourth reference points D is 2.41 m.

Subsequently, the position value calculation apparatus 100 may calculate the position value of a certain point (1) in a predetermined space using the position value of the reference point determined in step S1300 (S1400).

As described above, by using the position value calculation apparatus and calculation method according to an embodiment of the present invention, it is possible to accurately measure the position value of one point in a predetermined space in which the position can not be confirmed using GPS or the like, Can be calculated.

This can be summarized by the following equation (1). (One position of the point: Pu, the reference point P in the x, y _{coordinates: P (X a, Y b} ))

Furthermore, a device capable of more accurately calculating the positional value of the point (1) in a predetermined space will be described with reference to FIG. FIG. 6 is a diagram illustrating each configuration of a position value calculation apparatus according to another embodiment of the present invention.

The position value calculation apparatus 100 'includes a camera 110, a distance sensor 120, a reference point search unit 10, a first position value calculation unit 140', a database 150, an inertial sensor 160, a GPS / GNSS 170, a second position value calculation unit 180, and a position value determination unit 190. The position value calculation apparatus 100 'includes a part of the same configuration as the position value calculation apparatus 100 described above, and a description thereof will be omitted.

The first position value calculation unit 140 'can calculate the first position value of the one point in the predetermined space using the position value of the reference point in the same manner as the position value calculation unit 140, To the position value determination unit 190.

The inertial sensor 160 detects the inertial force with respect to the motion of the position value calculation device 100 'and senses information such as acceleration, speed, direction, and distance, and transmits various sensing information to the second positional value calculation unit 180 .

The GPS / GNSS 170 may be included in the position value calculation device 100 'as shown in FIG. 6, or may be connected to the position value calculation device 100' in a wired or wireless manner. In addition, the GPS / GNSS 170 may receive the real-time position information of the position value calculation apparatus 100 'from the satellite and transmit the position information to the second position value calculation unit 180.

The second position value calculator 180 can calculate a second position value by collecting and analyzing various information transmitted from the inertial sensor 160 and the GPS / GNSS 170, and outputs the second position value to the position value determiner 190 . In some cases, the second position value calculator 180 may calculate the second position value using only the sensing information of the inertial sensor 160 or the position information of the GPS / GNSS 170. The second position value calculation unit 180 further performs position estimation of the inertia sensor 160 after performing dead-reckoning based on the sensing information of the inertial sensor 160, The second position value may be corrected while the cumulative error of the sensor 160 is reduced.

The position value determination unit 190 can determine the final position value of the one point (1) in the predetermined space through hybrid navigation that compares and analyzes the transmitted first position value and the second position value with each other have. The error of the determined position value can be minimized, and the reliability of the position value calculation device 100 'can be further improved.

7 is a diagram showing a predetermined space and points before and after the movement in the space.

The predetermined space may be a space in which the position can not be confirmed using a GPS or the like as in the space shown in FIG. 1, or a space where a lot of positioning errors occur, and a plurality of structures including a specific structure Ceilings, floors, interior products, furniture, etc.).

The position value of the second point (2) in a state where the position value of the first point (1) in a predetermined space is known can be calculated by the position value calculation device (200) described later. At this time, the position value of the first point (1) may be calculated through the position value calculation apparatus 100 described above.

The first point (1) and the second point (2) may be any point within a predetermined space, and the positional value of the second point (2) measured using GPS or the like as before may be inaccurate and a large error Lt; / RTI >

Hereinafter, with reference to FIG. 7 and FIG. 8, each configuration of the position value calculation apparatus 200 will be described in detail. FIG. 8 is a diagram illustrating each configuration of a position value calculation apparatus according to another embodiment of the present invention.

The position value calculation apparatus 200 calculates a position value of a point moved within a predetermined space and includes a camera 210, a reference point determination unit 220, a movement amount calculation unit 230 and a position value calculation unit 240, . In addition, it can be used together with the position value calculation apparatuses 100 and 100 'described above.

The camera 210 acquires at least two images in which a specific structure forming a predetermined space is photographed through sequential shooting performed while moving from a first point (1) to a second point (2) within a predetermined space . That is, at least one or more structures of at least one structure may be displayed on each image obtained through the camera 210, and any one of the structures simultaneously displayed on each image may be a specific structure.

The reference point determining unit 220 can determine a reference point for a specific structure on the contour of the specific structure detected from the image acquired by the camera 210. [ The reference point may be a point at which the characteristic feature of the specific structure can be displayed, and various known image processing techniques and matching techniques may be applied to the reference point determination unit 220.

The movement amount calculating unit 230 may compare the first pixel including the determined reference point in the image photographed at the first point (1) and the second pixel including the determined reference point in the photographed image at the second point (2) .

Further, the movement amount calculating unit 230 can calculate the movement distance and the movement direction of the reference point determined according to the comparison result.

That is, since the specific structure is simultaneously displayed on each of the images photographed at the first point (1) and the second point (2) and the reference point is determined on the contour line of the specific structure, The movement distance and the movement direction of the reference point can be calculated.

The position value calculation unit 240 may calculate the position value of the second point (2) using the position value of the first point (1) known in advance, the calculated distance traveled, and the direction of movement. At this time, the position value of the first point (1) may be calculated using the position value calculation apparatus 100 according to an embodiment of the present invention.

In addition, the GPS 250 may be included in the position value calculation device 200 as shown in FIG. 8, or may be connected to the position value calculation device 200 in a wired or wireless manner. Also, the GPS 250 may receive the real-time position information of the position value calculation device 200 from the satellite, and may transmit the position information to the position value calculation unit 240.

Hereinafter, a method of calculating a position value of a point (2) in a predetermined space using the position value calculation apparatus 200 according to another embodiment of the present invention will be described with reference to FIG. Specifically, it is explained.

FIG. 9 is a flowchart showing each step of the position value calculation method according to another embodiment of the present invention.

First, the position value calculation device 200 calculates a position value of a specific structure constituting a predetermined space through sequential photographing while moving from a first point (1) to a second point (2) within a predetermined space, The above image can be acquired (S2100).

Next, the position value calculation apparatus 200 can determine a reference point for a specific structure on the contour of the specific structure detected from the acquired image (S2200).

Subsequently, the position value calculation device 200 calculates the position value of the second pixel including the determined reference point in the image photographed at the first point (1) and the first pixel including the determined reference point in the image photographed at the second point (2) The moving distance D and the moving direction? Of the reference point determined in the step S2200 described above can be calculated (S2300).

The movement distance D and the movement direction? Of the reference point can be calculated using the movement amount NP between the first pixel and the second pixel, the magnification value SF, the direction angle A, , And a detailed description will be given later.

Next, the position value calculation device 200 calculates the position of the second point (2) using the position value of the first point (1), the movement distance D calculated in the above step S2300 and the movement direction The position value can be calculated (S2400).

Specifically, the position value calculation device 200 calculates the movement variation amount D * cos () in the x-axis and the movement variation amount D * sin () in the y-axis through dead reckoning , And the positional value of the second point (2) can be calculated by reflecting the movement change amount with respect to the position value of the first point (1).

When the estimation method is applied to a moving object such as a vehicle, there is no cumulative error concept, which improves accuracy and is easy to combine with other navigation systems. However, the calculation method is not limited thereto.

In addition, the position value calculation device 200 calculates the position value of the first point (1) that is already known and the position value of the first point (1) using the information obtained from at least one of the inertial sensor, GPS, The position value of the second point calculated in the first point can be corrected.

In addition, the position value calculation apparatus 200 may determine whether the column of the first pixel and the column of the second pixel are the same. In addition, the position value calculation device 200 counts the number of pixels located between the first pixel and the second pixel in the same case, and when the position value calculation device 200 counts the number of pixels located between the first pixel and the second pixel in the column of the second pixel among the pixels located in the row of the first pixel The number of pixels positioned between the center pixel and the first pixel and the number of pixels positioned between the center pixel and the second pixel can be counted.

10 and 11 for a detailed description of the moving distance and the moving direction of the reference point together with the row and column of pixels described above.

10 is a diagram showing an example for specifically explaining the moving distance and the moving direction of the reference point.

In the case of acquiring (S2100) according to an example, an image may be acquired through photographing in a state where the camera 210 in the position calculating apparatus 200 is maintained in a horizontal position. An image according to an example shown in FIG. 9A is composed of 9 pixels, and the notation P _xy means pixels in x rows and y columns.

As shown in FIG. 10 (a), a column of a first pixel P ₃₂ including a determined reference point in an image photographed at a first point (1) and a column of a first pixel (P ₃₂ ) The columns of the second pixel P ₁₂ including the determined reference points are the same in two columns. That is, the position value calculating unit 200 is a first time (t ₁₎ a first point (①) a second time (t ₂₎ after taking the image including the reference points for a particular structure, move in the An image including the upper reference point can be taken at the two points (2), and the columns of the pixels including the reference points in the two images can be the same. Also, even at the same reference point, the magnitude of the reference point may vary as the position value calculation apparatus 200 moves and the photographed point changes, and the interval between the first time t ₁ and the second time t ₂ is specifically limited It does not.

For a step (S2300) of calculating, according to one example, the location value calculation unit 200 includes a pixel which is located between the first pixel and the second pixel (P _22), the first pixel (P _32), and second pixels (P ₁₂ ), applying a relative depth ratio (Pr) for each row of pixels, respectively, and multiplying a sum of the values obtained by the applying step by a predetermined scale factor Can be performed. At this time, the number of pixels located between the counted first pixels and the second pixels can be utilized.

As shown in FIG. 10 (b), the relative depth ratio Pr between the actual object (specific structure) and the photographed image may be different for each row of the pixels. For example, if the relative depth ratio Pr ₁ of a pixel (P _1x ) in a row is 1, Pr _{2, which} is the relative depth ratio of a pixel (P _2x ) in the second row, may be 2.5 * Pr ₁ , Pr _{3, which} is the relative depth ratio of the pixels (P _3x ) in the row, may be 3.5 * Pr ₂ . In addition, the magnification may be a predetermined value according to the distance between the horizontal pixel and the vertical pixel.

Through the above process, the position value calculation apparatus 200 can calculate a position value of a point moved within a predetermined space without using an existing positioning system such as GPS, even if the columns of pixels including reference points in two images are the same.

These can be summarized as Equations 4 and 5 below.

11 is a view showing another example for specifically describing the moving distance and the moving direction of the reference point.

In the case of acquiring S2100 according to another example, an image may be acquired through photographing in a state in which the camera 210 in the position calculating apparatus 200 is maintained in a horizontal position. The image according to the example shown in FIG. 11A is composed of 9 pixels, and the notation P _xy means pixels in the x and y columns.

As shown in Fig. 11 (a), the column of the first pixel P _{(n + 2) (c-1)} including the determined reference point in the image taken at the first point (1) , And the column of the second pixel (P _nc ) including the determined reference point in the image photographed at the second point (2) is different in the column c. That is, the position value calculating unit 200 is a first time (t ₁₎ a first point (①) a second time (t ₂₎ after taking the image including the reference points for a particular structure, move in the An image including the upper reference point can be taken at the two points (2), and the columns of the pixels including the reference points in the two images may be different. Also, even at the same reference point, the magnitude of the reference point may vary as the position value calculation apparatus 200 moves and the photographed point changes, and the interval between the first time t ₁ and the second time t ₂ is specifically limited It does not.

In the case of calculating (S2300) according to another example, the position value calculation device 200 may perform the following series of operations.

First, the first pixel _{(P (n + 2) (} c-1)) center pixel in (c) heat of the (n + 2) row second pixel (P _nc) of the pixel located on the pixel (P _{( n + 2) c} ).

As it is shown in Figure 11 (a), pixels _{(P (n + 1) c} ) which is located between the center pixel and the second pixel, the center pixel _{(P (n + 2) c} ), and a second pixel (P _nc ), A relative depth ratio Pr that varies for each row of pixels can be applied, respectively.

The position value calculation apparatus 200 can calculate the distance D shown in FIG. 11 (b) by multiplying the sum of the obtained values by the predetermined first magnification.

Further, for a pixel located between the center pixel and the first pixel, the center pixel P _{(n + 2) c} , and the first pixel P _{(n + 2) (c-1)} Pr _{(n + 2), which} is the relative depth ratio corresponding to the row, can be applied. At this time, the number of pixels positioned between the counted center pixel and the first pixel can be utilized.

The position value calculation apparatus 200 can multiply the sum of the obtained values by a predetermined second magnification and multiply the result obtained by multiplying the second magnification by a result value D obtained by multiplying the first magnification by the above- The angle? (Radian) shown in Fig. 10 (b) can be calculated.

Through the above process, the position value calculation apparatus 200 can calculate a position value of a point moved within a predetermined space without using an existing positioning system such as GPS, even if the columns of pixels including the reference points in two images are different.

These can be summarized as Equations 6 and 7 below.

The location value calculation apparatus and calculation method according to each of the above embodiments of the present invention can be applied to a Positioning of Light and Scan (PoLaS) positioning technique. The PoLaS positioning technique is a technique for grasping the indoor structure by illuminating the lantern in a dark room, and can be used together with the above-described position value calculation device and calculation method to maximize the effect. For example, a firefighter may frequently be put into a fire scene, which is difficult to be positioned only by an existing positioning system such as a GPS, and real-time position measurement of a firefighter or the like in a random indoor space by using the technique proposed in the present invention There is an advantage that it is possible.

Each of the components shown in FIGS. 2 and 7 may be configured as a 'module'. The term 'module' refers to a hardware component such as software or a Field Programmable Gate Array (FPGA) or an Application Specific Integrated Circuit (ASIC), and the module performs certain roles. However, a module is not limited to software or hardware. A module may be configured to reside on an addressable storage medium and may be configured to execute one or more processors. The functionality provided by the components and modules may be combined into a smaller number of components and modules or further separated into additional components and modules.

It will be understood by those skilled in the art that the foregoing description of the present invention is for illustrative purposes only and that those of ordinary skill in the art can readily understand that various changes and modifications may be made without departing from the spirit or essential characteristics of the present invention. will be. It is therefore to be understood that the above-described embodiments are illustrative in all aspects and not restrictive. For example, each component described as a single entity may be distributed and implemented, and components described as being distributed may also be implemented in a combined form.

The scope of the present invention is defined by the appended claims rather than the detailed description and all changes or modifications derived from the meaning and scope of the claims and their equivalents are to be construed as being included within the scope of the present invention do.

100: position value calculation device 110: camera
120: distance sensor 130: reference point searching unit
140: position value calculation unit 150: database

Claims (13)

A method for calculating a position value of a point in a predetermined space using a position value calculating apparatus,
Acquiring a photographed image of a specific structure constituting the predetermined space through shooting at the one point;
Obtaining distance information between the one point and the specific structure through sensing at the one point;
Determining a reference point for the specific structure based on the obtained image and distance information; And
And calculating a position value of the one point by using the determined position value of the reference point.
2. The method of claim 1, wherein the determining comprises:
And generating stereoscopic metadata for the specific structure in real time based on the obtained image and distance information,
And determining a reference point for the specific structure using the generated metadata.
The method according to claim 1,
Wherein the determining comprises detecting an outline for the particular structure from the acquired image,
And determining a reference point for the specific structure on the detected contour.
The method according to claim 1,
Wherein said determining step comprises the step of detecting a line from the acquired image that the specific structure and the ceiling or bottom surface of the predetermined space are in contact with each other,
And determining a reference point for the particular structure on the detected line.
The method according to claim 1,
And correcting the position value of the one point using information obtained from at least one of the inertial sensor, the GPS, and the GNSS.
An apparatus for calculating a position value of a point within a predetermined space,
A camera for acquiring a photographed image of a specific structure constituting the predetermined space through shooting at the one point;
A distance sensor for obtaining distance information between the one point and the specific structure through sensing at the one point;
A reference point determining unit for determining a reference point for the specific structure based on the obtained image and distance information; And
And a position value calculation unit for calculating a position value of the one point by using the determined position value of the reference point.
An apparatus for calculating a position value of a point within a predetermined space,
A camera for acquiring a photographed image of a specific structure constituting the predetermined space through shooting at the one point;
A distance sensor for obtaining distance information between the one point and the specific structure through sensing at the one point;
A reference point determining unit for determining a reference point for the specific structure based on the obtained image and distance information;
A first position value calculation unit for calculating a first position value of the one point using the determined position value of the reference point;
A second position value calculation unit for calculating a second position value of the one point by using information obtained from at least one of an inertial sensor, GPS, and a global positioning system (GNSS); And
And a position value determiner for calculating a final position value of the one point through a mixed navigation method for comparing and analyzing the first position value and the second position value with each other.
A method of calculating a position value of a point moved within a predetermined space using a position value calculation apparatus,
Obtaining at least two images in which a specific structure constituting the predetermined space is photographed through sequential shooting performed while moving from a first point to a second point within the predetermined space;
Determining a reference point for the specific structure on the contour of the specific structure detected from the acquired image;
Comparing the first pixel including the determined reference point in the image photographed at the first point with the second pixel including the determined reference point in the photographed image at the second point, ; And
Calculating a position value of the second point using the position value of the first point, the calculated movement distance, and the movement direction.
9. The method of claim 8,
And correcting the position value of the second point using information obtained from at least one of an inertial sensor, GPS, and a Global Positioning System (GNSS).
9. The method of claim 8,
Determining whether a column of the first pixel and a column of the second pixel are the same; And
Counts the number of pixels located between the first pixel and the second pixel when the two pixels are the same and counts the number of pixels located between the center pixel located in the column of the second pixel and the first pixel, Counting the number of pixels located between the center pixel and the second pixel, and counting the number of pixels located between the center pixel and the second pixel.
9. The method of claim 8,
Wherein the acquiring step acquires the image through photographing in a state in which the camera is kept horizontal,
Wherein if the column of the first pixel and the column of the second pixel are identical,
Applying a relative depth ratio for each of the pixels located between the first pixel and the second pixel, for the first pixel, and for the second pixel, for each row of pixels; And
And multiplying the sum of the values obtained by the applying step by a preset magnification.
9. The method of claim 8,
Wherein the acquiring step acquires the image through photographing in a state in which the camera is kept horizontal,
Wherein if the column of the first pixel and the column of the second pixel are different,
(a) determining a center pixel located in a column of the second pixel among the pixels located in a row of the first pixel;
(b) applying a relative depth ratio for each of the pixels located between the center pixel and the second pixel, the center pixel, and the second pixel for each row of pixels;
(c) multiplying a sum of the values obtained by the step (b) by a predetermined first magnification;
(d) applying a relative depth ratio corresponding to a row of the first pixel to a pixel located between the center pixel and the first pixel, the center pixel, and the first pixel;
(e) multiplying a sum of the values obtained by the step (d) by a predetermined second magnification; And
(f) dividing the result of step (e) by the result of step (c).
An apparatus for calculating a position value of a point moved within a predetermined space,
A camera for acquiring at least two images in which a specific structure constituting the predetermined space is photographed through sequential shooting made while moving from a first point to a second point within the predetermined space;
A reference point determining unit for determining a reference point for the specific structure on the contour of the specific structure detected from the obtained image;
Comparing the first pixel including the determined reference point in the image photographed at the first point with the second pixel including the determined reference point in the photographed image at the second point, A movement amount calculating unit for calculating a movement amount of the object; And
And a position value calculation unit for calculating a position value of the second point using the position value of the first point, the calculated movement distance, and the movement direction.

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