WO2021052119A1 - 一种较精确的定位方法和装置 - Google Patents
一种较精确的定位方法和装置 Download PDFInfo
- Publication number
- WO2021052119A1 WO2021052119A1 PCT/CN2020/111224 CN2020111224W WO2021052119A1 WO 2021052119 A1 WO2021052119 A1 WO 2021052119A1 CN 2020111224 W CN2020111224 W CN 2020111224W WO 2021052119 A1 WO2021052119 A1 WO 2021052119A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- information
- building
- database
- subject
- optional implementation
- Prior art date
Links
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/50—Information retrieval; Database structures therefor; File system structures therefor of still image data
- G06F16/53—Querying
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/50—Information retrieval; Database structures therefor; File system structures therefor of still image data
- G06F16/58—Retrieval characterised by using metadata, e.g. metadata not derived from the content or metadata generated manually
- G06F16/583—Retrieval characterised by using metadata, e.g. metadata not derived from the content or metadata generated manually using metadata automatically derived from the content
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/50—Information retrieval; Database structures therefor; File system structures therefor of still image data
- G06F16/58—Retrieval characterised by using metadata, e.g. metadata not derived from the content or metadata generated manually
- G06F16/587—Retrieval characterised by using metadata, e.g. metadata not derived from the content or metadata generated manually using geographical or spatial information, e.g. location
Definitions
- the invention relates to the field of distance measurement, in particular to a more accurate positioning method and device.
- the present invention provides a more accurate positioning method and device.
- a database is generated through a camera and a method of collecting GPS data and image information in advance.
- the image information in the database is retrieved through the camera image frame.
- the relative position is read or calculated, and superimposed on the GPS information of the target or building to obtain the current GPS information (or position information) of the user terminal.
- the present invention can determine the current location of the user terminal more accurately, and can at least reduce the dependence on real-time gps information to a certain extent.
- Another feature of the present invention is to collect the image information of the building or object according to a planned angle and distance.
- a more accurate positioning device is characterized in that it includes a camera and a software system.
- the camera is a monocular, binocular or multi-lens camera matched according to the implementation scheme of the software system.
- the software system is a system for calculating and/or obtaining position or positioning information by recognizing buildings or objects from the camera image frames based on the database.
- a more accurate positioning method which is characterized in that it includes:
- Step 1 Collect the GPS information of the building or the subject (or estimate the GPS value of the central location), and collect the various image information of the building or the subject, and store it in the database.
- Step 2 Identify the building or object according to the camera image frame.
- Step 3 Calculate or retrieve the relative position of the user terminal relative to the building or the subject based on the image frame information, and use this relative position plus the GPS information of the building or the subject to obtain the current position information of the user terminal.
- the gps information refers to global positioning information of a ranging navigation satellite.
- the GPS information at the center of the containment box of the building or the subject can be collected as the GPS information of the building.
- a method of calculation or calculation or measurement may be used to obtain the GPS information of the building or the target object.
- a GPS device when collecting the GPS information of the building or the subject, can be deployed at a specific location of the building or the subject (such as the center of the containment box) to collect multiple times
- the global positioning information of the ranging navigation satellite is synchronized to the database to update the GPS information of the building or subject.
- the image information when collecting image information of buildings or objects, the image information can be collected once every 1 degree in the horizontal direction (the horizontal circle is 360 degrees), and the shooting distance of the camera can be adjusted. Collect image information multiple times.
- the collected image information of the building or subject can be stored in several resolutions.
- a record of the database may be in the form of a primary key, image data (in the case of multiple resolutions), and the angle corresponding to the image data collection (for example, relative to true north). Angle), the relative coordinate information and distance between the camera and the building or object when the image is collected.
- the convolution information of the image (which may be the result of convolution calculation) can be stored in a record of the database for faster retrieval.
- a certain change result of the image may be stored in a record of the database for faster retrieval.
- image data of different resolutions in the database can be used to retrieve from the current image frame, and when the matching situation meets a certain threshold, it is considered that the image has been found.
- convolution information (which can be the result of convolution calculation) can be generated for the current image frame, and then the convolution information of image data of different resolutions in the database can be used (which can be convolution). The result of the calculation) to search.
- edge information may be generated for the current image frame, and then the edge information of image data of different resolutions in the database may be used for searching.
- the method for obtaining relative coordinate information may be to read the relative coordinate information from a database.
- the method for obtaining relative coordinate information may be to read the relative distance from the database, and then calculate the relative coordinate information according to the angle value stored in the database.
- the method of obtaining relative coordinate information may be calculated by binocular distance measurement, and the relative position information may be calculated in combination with the angle value stored in the database.
- the calculated or retrieved relative position can be converted into GPS information, and then the GPS information of the building or the subject can be added.
- Step 1 Measure the containment box of the building, calculate the center of the containment box, and use the drone to fly over the center of the containment box of the building to obtain gps information.
- Step 2 Shooting buildings from various angles (one degree each), and shooting buildings at different distances, collecting image information, and generating database records of relative position information and gps information, convolution results, and angle information.
- the GPS information of the current position when the image information is collected can be used to make a difference with the GPS information of the building or the subject to obtain relative position information.
- Step 3 Identify the image record with the maximum matching rate, and obtain the distance, relative position information, and angle information in the database record.
- Step 1 Measure the containment box of the building, calculate the center of the containment box, and use the drone to fly over the center of the containment box of the building to obtain gps information.
- Step 2 Shooting buildings from various angles (one degree each), and shooting buildings at different distances, collecting image information, and generating database records of relative position information and gps information, convolution results, and angle information.
- the GPS information of the current position when the image information is collected can be used to make a difference with the GPS information of the building or the subject to obtain relative position information.
- Step 3 Identify the image record with the maximum matching rate, and obtain the distance, relative position information, and angle information.
- Step 4 Calculate the relative distance and/or relative position information according to the binocular camera, and use the angle information and relative position information in the database to make corrections.
Landscapes
- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Theoretical Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- General Engineering & Computer Science (AREA)
- Databases & Information Systems (AREA)
- Data Mining & Analysis (AREA)
- Library & Information Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Studio Devices (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Navigation (AREA)
Abstract
Description
Claims (7)
- 一种较精确的定位装置,其特征在于,包括:摄像头,软件系统;所述摄像头是依照所述软件系统的实现方案来搭配的单目,双目或多目摄像头;所述软件系统是根据数据库从摄像头图像帧识别出建筑物或标的物来计算和\或获得位置或定位信息的系统。
- 一种较精确的定位方法,其特征在于,包括:步骤一:收集建筑物或标的物的gps信息(或估算中心位置的gps值),以及收集建筑物或标的物的各种样子的图像信息,储存到数据库中;步骤二:根据摄像头图像帧来识别出建筑物或标的物;步骤三:根据图像帧信息计算出或检索到用户端相对于建筑物或标的物的相对位置,用这个相对位置加上所述建筑物或标的物的gps信息就是用户端当前的位置信息。
- 根据权利要求2所述的“步骤一”,其特征在于,收集建筑物或标的物的gps信息(或估算中心位置的gps值),以及收集建筑物或标的物的各种样子的图像信息,储存到数据库中,包括:作为一种可选的实施方式,收集建筑物或标的物gps信息时,可以收集这个建筑物或标的物的包容盒的中心的gps信息来做为这个建筑物的gps信息;进一步地,作为一种可选的实施方式,收集建筑物或标的物gps信息时,可以采用计算或者推算或者测量的方法来获得所述建筑物或标的物gps信息;作为一种可选的实施方式,收集建筑物或标的物gps信息时,可以部署一个gps设备在建筑物或标的物的某个特定位置(例如包容盒的中心)来多次采集测距导航卫星的全球定位信息(gps信息),并同步到数据库中,以更新此建筑物或标的物的gps信息;作为一种可选的实施方式,收集建筑物或标的物的图像信息时,可以水平方向每个1度(水平圆是360度)收集一次图像信息,并可以调整相机的拍摄远近来多次收集图像信息;作为一种可选的实施方式,可以将收集到的建筑物或标的物的图像信息存成几种分辨率;作为一种可选的实施方式,所述数据库的一条记录的形式可以是主键、图像数据(多项分辨率的情况)、图像数据采集时对应的角度(例如相对于正北方向的角 度)、收集图像时相机与所述建筑物或标的物的相对坐标信息和距离;进一步地,作为一种可选的实施方式,可以在所述数据库的一条记录中储存图像的卷积信息(可以是卷积计算的结果)以便更快速的检索;进一步地,作为一种可选的实施方式,可以在所述数据库的一条记录中储存图像的某种变化结果(例如边缘信息等)以便更快速的进行检索。
- 根据权利要求2所述的“步骤二”,其特征在于,根据摄像头图像帧来识别出建筑物或标的物,包括:作为一种可选的实施方式,可以使用数据库中不同分辨率的图像数据来从当前图像帧中检索,当匹配情况满足某一阈值时,认为找到了此图像;作为一种可选的实施方式,可以对当前图像帧生成卷积信息(可以是卷积计算的结果),之后使用数据库中不同分辨率的图像数据的卷积信息(可以是卷积计算的结果)来进行搜索;作为一种可选的实施方式,可以对当前图像帧生成边缘信息,之后使用数据库中不同分辨率的图像数据的边缘信息来进行搜索。
- 根据权利要求2所述的“步骤三”,其特征在于,根据图像帧信息计算出或检索到用户端相对于建筑物或标的物的相对位置,用这个相对位置加上所述建筑物或标的物的gps信息就是用户端当前的位置信息,包括:作为一种可选的实施方式,单目摄像头时,获得相对坐标信息的方法可以是从数据库中读取出相对坐标信息;作为一种可选的实施方式,单目摄像头时,获得相对坐标信息的方法可以是从数据库中读取出相对距离,然后按照数据库中存储的角度值计算出相对坐标信息;作为一种可选的实施方式,双目摄像头时,获得相对坐标信息的方法可以是通过双目测距计算得到的,并可以结合数据库中储存的角度值来计算得到相对位置信息;作为一种可选的实施方式,可以将计算出或检索到的相对位置换算成gps信息,然后加上所述建筑物或标的物的gps信息。
- 一种计算机可读写介质,其上存储有计算机程序和相关数据,其特征在于,所述程序被处理器执行时实现本发明的相关计算功能和内容。
- 一种电子设备,其特征在于,包括:一个或多个处理器;一个或多个显卡(可选);存储装置,用于存储一个或多个程序。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201910878283.2A CN110674327A (zh) | 2019-09-17 | 2019-09-17 | 一种较精确的定位方法和装置 |
CN201910878283.2 | 2019-09-17 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2021052119A1 true WO2021052119A1 (zh) | 2021-03-25 |
Family
ID=69078015
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/CN2020/111224 WO2021052119A1 (zh) | 2019-09-17 | 2020-08-26 | 一种较精确的定位方法和装置 |
Country Status (2)
Country | Link |
---|---|
CN (1) | CN110674327A (zh) |
WO (1) | WO2021052119A1 (zh) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110674327A (zh) * | 2019-09-17 | 2020-01-10 | 异起(上海)智能科技有限公司 | 一种较精确的定位方法和装置 |
CN113610195A (zh) * | 2020-01-12 | 2021-11-05 | 异起(上海)智能科技有限公司 | 一种标记场景的方法和装置 |
Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN104573735A (zh) * | 2015-01-05 | 2015-04-29 | 广东小天才科技有限公司 | 基于图像拍摄以优化定位的方法、智能终端及服务器 |
CN104748736A (zh) * | 2013-12-26 | 2015-07-01 | 电信科学技术研究院 | 一种定位方法及装置 |
US20150185735A1 (en) * | 2014-01-02 | 2015-07-02 | Automotive Research & Testing Center | Vehicle positioning method and its system |
CN104807455A (zh) * | 2014-01-27 | 2015-07-29 | 厦门歌乐电子企业有限公司 | 一种目标地点的定位方法及装置 |
CN106153047A (zh) * | 2016-08-15 | 2016-11-23 | 广东欧珀移动通信有限公司 | 一种室内定位方法、装置及终端 |
CN106249267A (zh) * | 2016-09-30 | 2016-12-21 | 南方科技大学 | 一种目标定位追踪方法和装置 |
CN108151750A (zh) * | 2017-12-13 | 2018-06-12 | 西华大学 | 定位方法及装置 |
CN110231039A (zh) * | 2019-06-27 | 2019-09-13 | 维沃移动通信有限公司 | 一种定位信息修正方法及终端设备 |
CN110674327A (zh) * | 2019-09-17 | 2020-01-10 | 异起(上海)智能科技有限公司 | 一种较精确的定位方法和装置 |
-
2019
- 2019-09-17 CN CN201910878283.2A patent/CN110674327A/zh active Pending
-
2020
- 2020-08-26 WO PCT/CN2020/111224 patent/WO2021052119A1/zh active Application Filing
Patent Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN104748736A (zh) * | 2013-12-26 | 2015-07-01 | 电信科学技术研究院 | 一种定位方法及装置 |
US20150185735A1 (en) * | 2014-01-02 | 2015-07-02 | Automotive Research & Testing Center | Vehicle positioning method and its system |
CN104807455A (zh) * | 2014-01-27 | 2015-07-29 | 厦门歌乐电子企业有限公司 | 一种目标地点的定位方法及装置 |
CN104573735A (zh) * | 2015-01-05 | 2015-04-29 | 广东小天才科技有限公司 | 基于图像拍摄以优化定位的方法、智能终端及服务器 |
CN106153047A (zh) * | 2016-08-15 | 2016-11-23 | 广东欧珀移动通信有限公司 | 一种室内定位方法、装置及终端 |
CN106249267A (zh) * | 2016-09-30 | 2016-12-21 | 南方科技大学 | 一种目标定位追踪方法和装置 |
CN108151750A (zh) * | 2017-12-13 | 2018-06-12 | 西华大学 | 定位方法及装置 |
CN110231039A (zh) * | 2019-06-27 | 2019-09-13 | 维沃移动通信有限公司 | 一种定位信息修正方法及终端设备 |
CN110674327A (zh) * | 2019-09-17 | 2020-01-10 | 异起(上海)智能科技有限公司 | 一种较精确的定位方法和装置 |
Also Published As
Publication number | Publication date |
---|---|
CN110674327A (zh) | 2020-01-10 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US9734414B2 (en) | Unified framework for precise vision-aided navigation | |
CN110033489B (zh) | 一种车辆定位准确性的评估方法、装置及设备 | |
Ventura et al. | Global localization from monocular slam on a mobile phone | |
JP6760114B2 (ja) | 情報処理装置、データ管理装置、データ管理システム、方法、及びプログラム | |
US10262437B1 (en) | Decentralized position and navigation method, device, and system leveraging augmented reality, computer vision, machine learning, and distributed ledger technologies | |
CN110617821B (zh) | 定位方法、装置及存储介质 | |
WO2020039937A1 (ja) | 位置座標推定装置、位置座標推定方法およびプログラム | |
WO2021052119A1 (zh) | 一种较精确的定位方法和装置 | |
US20150016666A1 (en) | Method and Apparatus for Determining Geolocation of Image Contents | |
US20220398825A1 (en) | Method for generating 3d reference points in a map of a scene | |
KR102463698B1 (ko) | 도로표지판의 위치정보 데이터베이스 구축 시스템 및 그 방법과 이를 이용한 차량의 위치 추정 장치 및 그 방법 | |
CN115371673A (zh) | 一种未知环境中基于Bundle Adjustment的双目相机目标定位方法 | |
WO2018131546A1 (ja) | 情報処理装置、情報処理システム、情報処理方法、および情報処理プログラム | |
JP6922348B2 (ja) | 情報処理装置、方法、及びプログラム | |
CN116097128A (zh) | 用于对车辆位置进行确定的方法和设备 | |
CN113033266A (zh) | 人员运动轨迹追踪方法、装置、系统及电子设备 | |
CN113838129B (zh) | 一种获得位姿信息的方法、装置以及系统 | |
CN114723811A (zh) | 一种非结构化环境四足机器人立体视觉定位建图方法 | |
CN114037762A (zh) | 基于图像与高精度地图配准的实时高精度定位方法 | |
US8688368B2 (en) | Image-based localization for addresses | |
US9188444B2 (en) | 3D object positioning in street view | |
Arth et al. | Full 6dof pose estimation from geo-located images | |
CN112184906A (zh) | 一种三维模型的构建方法及装置 | |
US20210233271A1 (en) | Information processing apparatus, server, movable object device, information processing method, and program | |
JP2006309450A (ja) | 画像認識装置及び画像認識方法 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 20864472 Country of ref document: EP Kind code of ref document: A1 |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 20864472 Country of ref document: EP Kind code of ref document: A1 |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 20864472 Country of ref document: EP Kind code of ref document: A1 |
|
32PN | Ep: public notification in the ep bulletin as address of the adressee cannot be established |
Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205A DATED 101022) |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 20864472 Country of ref document: EP Kind code of ref document: A1 |