WO2021189570A1 - 一种基于增强现实的室内寻车引导系统与方法 - Google Patents

一种基于增强现实的室内寻车引导系统与方法 Download PDF

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WO2021189570A1
WO2021189570A1 PCT/CN2020/085249 CN2020085249W WO2021189570A1 WO 2021189570 A1 WO2021189570 A1 WO 2021189570A1 CN 2020085249 W CN2020085249 W CN 2020085249W WO 2021189570 A1 WO2021189570 A1 WO 2021189570A1
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guidance
module
mobile terminal
information
user
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PCT/CN2020/085249
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French (fr)
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常壮
白晓亮
邵立
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南京翱翔信息物理融合创新研究院有限公司
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
    • G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
    • G08G1/146—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas where the parking area is a limited parking space, e.g. parking garage, restricted space
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
    • G06Q10/047—Optimisation of routes or paths, e.g. travelling salesman problem
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T19/00—Manipulating 3D models or images for computer graphics
    • G06T19/003—Navigation within 3D models or images

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  • the invention relates to an indoor parking lot car search technology, in particular to an indoor car search guidance system and method based on augmented reality.
  • Chinese Patent Publication No. CN 105976636 A discloses a parking lot car-finding system using augmented reality technology, which includes a number of AR tags distributed in the parking lot and a mobile terminal APP system.
  • the mobile terminal APP system includes: AR tag recognition module, The AR tag recognition module scans the AR tag with the camera of the mobile terminal to obtain the user’s parking location and the user’s current location; AR display module; parking lot map module; The current location and the user's parking location are combined with the parking lot plane offline map stored in the parking lot map module to plan an optimal user walking path, and the planned optimal user walking path is displayed on the AR display module.
  • the above-mentioned prior art requires the user to use the camera of the mobile terminal to scan the AR tag to obtain the parking position every time after parking.
  • the process is cumbersome; only visual information is used for car search guidance, and the information transmission method is single, and when the camera field of view leaves the AR tag, the camera position The posture is lost, and the guidance information cannot be updated in real time, causing the user to lack effective guidance information during the journey.
  • the purpose of the present invention is to address the above-mentioned shortcomings of the prior art, and provide an augmented reality-based indoor car-seeking guidance system and method that has a small amount of calculation, diverse guidance information, and high real-time performance.
  • An indoor car finding guidance system based on augmented reality which includes: a data preparation unit and a mobile terminal application unit.
  • the mobile terminal application unit collects data required for guidance from the data preparation unit through a camera;
  • the data preparation unit includes a Key code module and AR identifier,
  • the mobile terminal application unit includes an AR guidance unit and a guidance service unit,
  • the AR guidance unit includes an AR recognition module, an AR visual guidance module, and an AR voice assisted guidance module, the guidance
  • the service unit includes a digital map building module, a decision support module, and a mobile terminal pose estimation and tracking module.
  • the one-key code retrieval module is embedded in the one-key code retrieval terminal, and each parking space is provided with a one-key code retrieval terminal, and the one-key code retrieval terminal is installed on the parking space wall or column to facilitate rapid generation of parking spaces.
  • the physical carrier of the parking space number is to parse out the corresponding destination information.
  • the mobile terminal application unit is arranged in a mobile terminal having a camera, a compass, a pedometer and a gyroscope hardware.
  • the AR identifier is attached to each intersection, mainly to identify the number of each intersection, that is, to parse out the corresponding current location information, where the AR identifier is a picture or a billboard.
  • the present invention also provides an indoor car finding guidance method based on augmented reality, the steps are as follows:
  • the user obtains the parking space number and the physical carrier of the parking lot map: After parking the user, the user obtains the paper identification code of the parking space and the parking lot map through the one-key code retrieval terminal, and takes it with him;
  • the AR recognition module uses the mobile terminal application unit to turn on the camera in the mobile terminal to scan the paper identification code carried by the user to obtain the parking space Information and parking lot map information;
  • Guidance decision-making generate guidance decision-making information, and provide decision support data for the selection of guidance information for the AR visual guidance module and the AR voice-assisted guidance module;
  • the AR visual guidance module superimposes visual guidance information on the real scene video stream captured by the mobile terminal according to the decision support information;
  • AR voice-assisted guidance generates corresponding voice guidance content based on decision support and visual guidance content, and reduces the difficulty of information reception by increasing the dimension of information transmission;
  • the user selects the direction at the intersection according to the AR guidance information.
  • the mobile terminal pose estimation and tracking module is based on the final mobile terminal pose and user
  • the actual direction of travel estimates the real-time pose of the mobile terminal, and then updates the visual guidance information in real time according to the constantly changing pose of the mobile terminal to ensure consistency with the decision support information, and then combines the distance information between adjacent nodes in the parking lot digital model to estimate The time when the user arrives at the next intersection, and reminds the user to scan the code in time to ensure that the current intersection number information in the system is updated in real time.
  • the AR guidance information includes AR visual guidance information and AR voice-assisted guidance information;
  • the output result of the digital map building module includes the parking lot topology and real size.
  • Each node in the topology structure represents a parking space or intersection and corresponds to a unique number.
  • Each edge of represents the distance between adjacent nodes.
  • step (5) The specific steps of step (5) are: (a) If the system has not yet generated the optimal path, the decision support module calculates the optimal path according to the number of parking spaces, the digital model of the parking lot, and the number of the intersection where the user is located, and gives the decision of the current intersection Support information; (b) If the optimal route has been generated, the decision support module only compares whether the current intersection number and the corresponding number in the optimal route are the same; (c) If the numbers are different, delete the current optimal route and repeat the steps (a).
  • the present invention reduces the storage and computing load of the mobile terminal in principle.
  • the design of the decision support module avoids in principle the optimal path planning calculation at each intersection and reduces the amount of calculation;
  • the design of the digital map building module simplifies the key information in the plane map into a series of numbered numbers, which greatly reduces the amount of data and calculations in the system;
  • the present invention adds an AR voice-assisted guidance module, which cooperates with the AR visual guidance module to transmit information in multiple dimensions at the same time, reducing the user's difficulty in understanding the guidance information; it cooperates with the mobile terminal pose estimation and tracking module , Can remind the user of the location of the AR identification at the intersection to prevent the user from missing the scan code location;
  • the pose of the camera can be estimated, so that the AR guidance information can be updated in real time.
  • Figure 1 is a system architecture diagram of the present invention
  • Figure 2 is a flow chart of the implementation of the method of the present invention.
  • data preparation unit 101, one-key code retrieval module; 102, AR identifier; 103, AR guidance unit; 104, AR recognition module; 105, AR visual guidance module; 106, AR voice assisted guidance module 107.
  • Guidance service unit 108. Digital map building module; 109. Decision support module; 110. Mobile terminal pose estimation and tracking module; 111. Mobile terminal application unit.
  • the present invention includes
  • An indoor car finding guidance system based on augmented reality which includes: a data preparation unit 100 and a mobile terminal application unit 111.
  • the mobile terminal application unit 111 collects data required for guidance from the data preparation unit 100 through a camera.
  • the preparation unit 100 includes a one-key code retrieval module 101 and an AR identifier 102.
  • the one-key code retrieval module 101 is embedded in the one-key code retrieval terminal.
  • each parking space is provided with a one-key code retrieval terminal for fast Generate a paper identification code containing parking space information and current parking lot map information, which is convenient for users to carry.
  • the AR identifier 102 is attached to each intersection, and it includes intersection number information and a coordinate system for accurately tracking the pose of the mobile terminal, so that the user can scan and learn the information of each intersection.
  • the mobile terminal application unit 111 includes an AR guidance unit 103 and a guidance service unit 107.
  • the AR guidance unit 103 includes an AR recognition module 104, an AR visual guidance module 105, and an AR voice assisted guidance module 106.
  • the guidance service unit 107 includes a digital map construction module 108, a decision support module 109, and a mobile terminal pose estimation and tracking module 110.
  • the AR recognition module 104 captures the AR identifier video information through the camera in the mobile terminal, and parses the precise guidance information contained in the AR identifier 102 from it.
  • the AR visual guidance module 105 is used to superimpose visual guidance information at the intersection in the parking lot to provide the user with intelligent decision support when making direction selection at the intersection.
  • the AR visual guidance module 105 loads the corresponding decision support data according to the decision support data. Visual guidance information.
  • the AR voice-assisted guidance module 106 cooperates with the AR visual guidance module 105 to guide the user to determine the direction from the sound dimension; at the same time, the AR voice-assisted guidance module 106 and the mobile terminal pose estimation and tracking module 110 cooperate with each other , Used to remind the user of the specific location of the AR identifier 102.
  • the digital map construction module 108 is used to construct a digital model of the parking lot in real time and provide data support for path planning and real-time guidance.
  • the output result of the digital map construction module 108 includes the topological structure and real size of the parking lot.
  • Each node of represents a parking space or intersection and corresponds to a unique number.
  • Each edge in the topology represents the distance between adjacent nodes.
  • the decision support module 109 is configured to generate decision support data required by the AR guiding unit 103. According to the parking space information of the decision support data preparation unit, the parking lot digital model and the current intersection number obtained by the AR guidance unit 103, the optimal path plan is calculated; each guidance task only needs to calculate the optimal path plan once When the user is traveling, the system only compares whether the current node is consistent with the corresponding node in the plan, and does not need to calculate the optimal path for each node; if the user does not follow the optimal path plan, it stops the current guidance task and starts a new Only then need to recalculate the optimal path.
  • the mobile terminal pose estimation and tracking module 110 is used to estimate the user's mobile terminal pose in real time and update the pose of the AR visual guidance information.
  • the mobile terminal pose estimation and tracking module 110 based on the guidance information provided by the AR guidance unit 103 and the sensor data inside the mobile terminal, is roughly within the acceptable accuracy range. Estimate and track the pose of the mobile terminal to update the guidance information in real time.
  • the mobile terminal application unit 111 is set in a mobile terminal having a camera, a compass, a pedometer and a gyroscope hardware, which is convenient for the user to carry.
  • the user obtains the parking space number and the physical carrier of the parking lot map: After parking the user, the user obtains the paper identification code of the parking space and the parking lot map through the one-key code retrieval terminal, and takes it with him;
  • Guidance decision generate guidance decision information, and provide decision support data for the AR visual guidance module 105 and AR voice assisted guidance module 106 to select guidance information;
  • the decision support module 109 calculates the optimal route according to the parking space number, the parking lot digital model, and the number of the intersection where the user is located, and gives decision support information for the current intersection;
  • the decision support module 109 only compares whether the current intersection number and the corresponding number in the optimal route are the same;
  • the AR visual guidance module 105 superimposes visual guidance information on the real scene video stream captured by the mobile terminal according to the decision support information;
  • AR voice-assisted guidance module 106 generates corresponding voice guidance content based on decision support and visual guidance content, and reduces the difficulty of information reception by increasing the dimension of information transmission;
  • the mobile terminal pose estimation and tracking module 110 is based on the final mobile terminal pose Estimate the real-time pose of the mobile terminal based on the user's actual travel direction, and then update the visual guidance information in real time according to the changing pose of the mobile terminal to ensure consistency with the decision support information, and then combine the distance information between adjacent nodes in the parking lot digital model , Estimate the time when the user arrives at the next intersection, and remind the user to scan the code in time to ensure that the current intersection number information in the system is updated in real time;

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Abstract

一种基于增强现实的室内寻车引导系统与方法，系统包括数据准备单元（100）和移动终端应用单元（111），数据准备单元（100）包括一键取码模块（101）和AR识别物（102），移动终端应用单元（111）包括AR引导单元（103）和引导服务单元（107），AR引导单元包括AR识别模块（104）、AR视觉导引模块（105）和AR语音辅助导引模块（106），引导服务单元（107）包括数字地图构建模块（108）、决策支持模块（109）和移动终端位姿估计与追踪模块（110）；方法包括：停车取码、寻车扫码、模型构建、获取路口编号、导引决策、AR视觉引导、AR语音辅助引导和引导内容实时更新；该系统与方法将计算机生成的虚拟引导信息与实时追踪的物理对象完美融合，实时引导车主在大型停车场中以最短时间和最优路径找到自己的车。

Description

一种基于增强现实的室内寻车引导系统与方法 技术领域
本发明涉及室内停车场寻车技术，具体涉及一种基于增强现实的室内寻车引导系统与方法。
背景技术
随着人民生活水平的提高，带动了汽车产业的迅速发展，现在的停车场越来越大，楼层越来越多，用户很容易忘记把车停在什么位置，目前也没有太多有效的寻车方案。其次，由于室内停车场无法接受GPS定位信号，手机基站的定位精度比较差，尤其是在大型的多层停车场内更是难以快速寻找到自己的停车位置，从而给车主带来很多困扰和不便，变相增加了车主的停车时间和费用，以及降低了停车场的车流量。
中国专利公开号CN 105976636 A中公开了一种利用增强现实技术的停车场寻车系统，包括分布在停车场内的若干AR标签以及移动终端APP系统，移动终端APP系统包括：AR标签识别模块，AR标签识别模块通过移动终端的摄像头扫描AR标签来获取用户停车位置和用户当前位置；AR显示模块；停车场地图模块；以及路径导航模块，路径导航模块根据所述AR标签识别模块获取到的用户当前位置和用户停车位置并结合停车场地图模块内存储的停车场平面离线地图来规划出最优的用户行走路径，并将规划出的最优的用户行走路径显示在所述AR显示模块上。上述现有技术要求用户每次停车后利用移动端的摄像头扫描AR标签获取停车位置，过程繁琐；进行寻车引导时仅采用视觉信息，信息传递方式单一，而且当摄像头视野离开AR标签时，摄像头位姿丢失，无法实时更新引导信息，导致用户在行进过程中缺少有效的引导信息。
发明内容
本发明的目的就是针对上述现有技术的不足，提供一种计算量小、引导信息多样以及实时性高的基于增强现实的室内寻车引导系统与方法。
本发明采用的技术方案如下：
一种基于增强现实的室内寻车引导系统，它包括：数据准备单元和移动终端应用单元，所述移动终端应用单元通过摄像头从数据准备单元中采集引导所需数据，所述数据准备单元包括一键取码模块和AR识别物，所述移动终端应用单元包括AR引导单元和引导服务单元，所述AR引导单元包括AR识别模块、AR视觉导引模块和AR语音辅助 导引模块，所述引导服务单元包括数字地图构建模块、决策支持模块和移动终端位姿估计与追踪模块。
所述一键取码模块内嵌到一键取码终端中，对应每个车位均设有一键取码终端，所述一键取码终端安装在车位墙上或者立柱上，便于快速生成包含停入车位编号的物理载体，即解析出对应的目的地信息。
所述移动终端应用单元设置在具有摄像头、指南针、计步器和陀螺仪硬件的移动终端中。
所述AR识别物贴装在每个路口，主要为了标识每个路口的编号，即解析出对应的当前位置信息，其中AR识别物为图片或广告牌。
本发明还提供一种基于增强现实的室内寻车引导方法，步骤如下：
(1)用户获取停入车位编号和停车场地图物理载体：用户停车后，通过一键取码终端获取到停车位和停车场地图的纸质识别码，并随身携带；
(2)解析车位信息和停车场地图信息：用户返回停车场寻车时，所述AR识别模块利用移动终端应用单元打开移动终端中的摄像头扫描用户随身携带的纸质识别码，获取停入车位信息以及停车场地图信息；
(3)停车场数字模型构建：根据扫描得到的停车地图信息利用数字地图构建模块构建停车场数字模型；
(4)解析并获取路口编号：用户行走至停车场内任意路口，利用移动终端扫描路口的AR识别物，解析出当前路口的编号；
(5)导引决策：生成导引决策信息，为AR视觉导引模块和AR语音辅助导引模块选择引导信息提供决策支持数据；
(6)AR视觉引导：AR视觉导引模块根据决策支持信息，在移动终端捕获的真实场景视频流中叠加视觉引导信息；
(7)AR语音辅助引导：AR语音辅助导引模块根据决策支持和视觉引导内容，生成相应的语音引导内容，通过增加信息传递维度来降低信息接收难度；
(8)引导内容实时更新：用户根据AR引导信息，在路口选择方向并行进，移动终端中的摄像头视野脱离AR识别物后，移动终端位姿估计与追踪模块根据最后的移动终端位姿和用户实际行进方向估计移动终端实时位姿，接着根据不断变化的移动终端位姿，实时更新视觉引导信息，确保与决策支持信息一致，然后结合停车场数字模型中的相邻节点间的距离信息，估计用户到达下一路口的时间，并提醒用户及时扫码，以确保 实时更新系统中当前路口编号信息，其中AR引导信息包括AR视觉引导信息和AR语音辅助引导信息；
(9)重复步骤(4)至步骤(8)，直到用户达到车位，找到自己的车。
步骤(3)中，所述数字地图构建模块的输出结果包含停车的场拓扑结构和真实尺寸，所述拓扑结构中的每个节点代表车位或路口，并对应着唯一编号，所述拓扑结构中的每条边代表相邻节点之间的距离。
步骤(5)的具体步骤为：(a)如果系统尚未生成最优路径，决策支持模块根据停入车位编号、停车场数字模型以及用户所在路口的编号计算最优路径并给出当前路口的决策支持信息；(b)如果最优路径已经生成，决策支持模块仅比对当前路口编号与最优路径中对应编号是否相同；(c)如果编号不同，则删除当前最优路径并重复所述步骤(a)。
本发明的有益效果有：
(1)本发明从原理上减轻了移动终端的存储和运算负荷，一方面，决策支持模块的设计从原理上避免了在每个路口都进行最优路径规划计算，降低运算量；另一方面，数字地图构建模块的设计，将平面地图中的关键信息，简化成系列编号数字，大幅度降低系统的数据量和运算量；
(2)本发明增加了AR语音辅助导引模块，与AR视觉导引模块相配合，多维度同时传递信息，降低用户对导引信息的理解难度；与移动终端位姿估计与追踪模块相配合，可在路口提醒用户AR识别物的位置，防止用户错过扫码位置；
(3)本发明中当移动终端的摄像头视角离开AR识别物时，可估计出摄像头的位姿，从而实时更新AR引导信息。
附图说明
图1为本发明的系统架构图；
图2为本发明的方法实施流程图；
图中100、数据准备单元；101、一键取码模块；102、AR识别物；103、AR引导单元；104、AR识别模块；105、AR视觉导引模块；106、AR语音辅助导引模块；107、引导服务单元；108、数字地图构建模块；109、决策支持模块；110、移动终端位姿估计与追踪模块；111、移动终端应用单元。
具体实施方式
下面结合附图对本发明作进一步地说明：
如图1-2所示，本发明它包括有
一种基于增强现实的室内寻车引导系统，它包括：数据准备单元100和移动终端应用单元111，所述移动终端应用单元111通过摄像头从数据准备单元100中采集引导所需数据，所述数据准备单元100包括一键取码模块101和AR识别物102，所述一键取码模块101内嵌到一键取码终端中，同时对应每个车位均设有一键取码终端，用于快速生成包含停入车位信息和当前停车场地图信息的纸质识别码，方便用户携带。所述AR识别物102贴装在每个路口，其包含路口编号信息和用于精确追踪移动终端位姿的坐标系，便于用户扫描得知各个路口的信息。
所述移动终端应用单元111包括AR引导单元103和引导服务单元107，所述AR引导单元103包括AR识别模块104、AR视觉导引模块105和AR语音辅助导引模块106，所述引导服务单元107包括数字地图构建模块108、决策支持模块109和移动终端位姿估计与追踪模块110。
所述AR识别模块104通过移动终端内的摄像头捕获AR识别物视频信息，并从中解析出AR识别物102中包含的精确引导信息。
所述AR视觉导引模块105，用于在停车场中的路口处叠加视觉引导信息，给用户在路口进行方向选择时提供智能决策支持，其中AR视觉导引模块105根据决策支持数据加载相应的视觉导引信息。
所述AR语音辅助导引模块106与AR视觉导引模块105相互配合，用于从声音维度引导用户判断方向；同时，AR语音辅助导引模块106和移动终端位姿估计与追踪模块110相互配合，用于提醒用户AR识别物102具体位置。
所述数字地图构建模块108，用于实时构建停车场数字模型，为路径规划和实时引导提供数据支撑，其中数字地图构建模块108的输出结果包含停车场的拓扑结构和真实尺寸，其中拓扑结构中的每个节点代表车位或路口，并对应着唯一编号，拓扑结构中的每条边代表相邻节点之间的距离。
所述决策支持模块109，用于生成所述AR引导单元103所需的决策支持数据。根据所述决策支持数据准备单元的停入车位信息，停车场数字模型和AR引导单元103获取的当前路口编号，计算出最优的路径方案；每次导引任务只需要计算一次最优路径方案，在用户行进中，系统只比对当前节点与方案中对应节点是否一致，而无需针对每一个节点计算最优路径；如果用户没有按照最优路径方案行走，则停止当前导引任务，开始新的导引任务，这时候才需要重新计算最优路径。
所述移动终端位姿估计与追踪模块110，用于实时估计用户的移动终端位姿，并更新AR视觉导引信息的位姿。当移动终端的视频流中没有AR识别物102时，所述移动终端位姿估计与追踪模块110根据AR引导单元103提供的导引信息和移动终端内部的传感器数据，在可接受精度范围内大致估计并追踪移动终端位姿，从而实时更新导引信息。
所述移动终端应用单元111设置在具有摄像头、指南针、计步器和陀螺仪硬件的移动终端中，便于用户随身携带。
本发明的使用过程如下：
(1)用户获取停入车位编号和停车场地图物理载体：用户停车后，通过一键取码终端获取到停车位和停车场地图的纸质识别码，并随身携带；
(2)解析车位信息和停车场地图信息：用户返回停车场寻车时，所述AR识别模块104利用移动终端应用单元111打开移动终端中的摄像头扫描用户随身携带的纸质识别码，获取停入车位信息以及停车场地图信息；
(3)停车场数字模型构建：根据扫描得到的停车地图信息利用数字地图构建模块108构建停车场数字模型；
(4)解析并获取路口编号：用户行走至停车场内任意路口，利用移动终端扫描路口的AR识别物102，解析出当前路口的编号；
(5)导引决策：生成导引决策信息，为AR视觉导引模块105和AR语音辅助导引模块106选择引导信息提供决策支持数据；
具体实现步骤如下：
(a)如果系统尚未生成最优路径，决策支持模块109根据停入车位编号、停车场数字模型以及用户所在路口的编号计算最优路径并给出当前路口的决策支持信息；
(b)如果最优路径已经生成，决策支持模块109仅比对当前路口编号与最优路径中对应编号是否相同；
(c)如果编号不同，则删除当前最优路径并重复所述步骤(a)；
(6)AR视觉引导：AR视觉导引模块105根据决策支持信息，在移动终端捕获的真实场景视频流中叠加视觉引导信息；
(7)AR语音辅助引导：AR语音辅助导引模块106根据决策支持和视觉引导内容，生成相应的语音引导内容，通过增加信息传递维度来降低信息接收难度；
(8)引导内容实时更新：用户根据AR引导信息，在路口选择方向并行进，移动终端中的摄像头视野脱离AR识别物102后，移动终端位姿估计与追踪模块110根据最后的移动终端位姿和用户实际行进方向估计移动终端实时位姿，接着根据不断变化的移动终端位姿，实时更新视觉引导信息，确保与决策支持信息一致，然后结合停车场数字模型中的相邻节点间的距离信息，估计用户到达下一路口的时间，并提醒用户及时扫码，以确保实时更新系统中当前路口编号信息；
(9)重复步骤(4)至步骤(8)，直到用户达到车位，找到自己的车。
本发明涉及的其它未说明部分与现有技术相同。

Claims (7)

  1. 一种基于增强现实的室内寻车引导系统，其特征是它包括：数据准备单元(100)和移动终端应用单元(111)，所述移动终端应用单元(111)通过摄像头从数据准备单元(100)中采集引导所需数据，所述数据准备单元(100)包括一键取码模块(101)和AR识别物(102)，所述移动终端应用单元(111)包括AR引导单元(103)和引导服务单元(107)，所述AR引导单元(103)包括AR识别模块(104)、AR视觉导引模块(105)和AR语音辅助导引模块(106)，所述引导服务单元(107)包括数字地图构建模块(108)、决策支持模块(109)和移动终端位姿估计与追踪模块(110)。
  2. 根据权利要求1所述的基于增强现实的室内寻车引导系统，其特征是所述一键取码模块(101)内嵌到一键取码终端中，对应每个车位均设有一键取码终端。
  3. 根据权利要求1所述的基于增强现实的室内寻车引导系统，其特征是所述移动终端应用单元(111)设置在具有摄像头、指南针、计步器和陀螺仪硬件的移动终端中。
  4. 根据权利要求1所述的基于增强现实的室内寻车引导系统，其特征是所述AR识别物(102)贴装在每个路口。
  5. 一种基于增强现实的室内寻车引导方法，其特征是，步骤如下：
    (1)用户获取停入车位编号和停车场地图物理载体：用户停车后，通过一键取码终端获取到停车位和停车场地图的纸质识别码，并随身携带；
    (2)解析车位信息和停车场地图信息：用户返回停车场寻车时，所述AR识别模块(104)利用移动终端应用单元(111)打开移动终端中的摄像头扫描用户随身携带的纸质识别码，获取停入车位信息以及停车场地图信息；
    (3)停车场数字模型构建：根据扫描得到的停车地图信息利用数字地图构建模块(108)构建停车场数字模型；
    (4)解析并获取路口编号：用户行走至停车场内任意路口，利用移动终端扫描路口的AR识别物(102)，解析出当前路口的编号；
    (5)导引决策：生成导引决策信息，为AR视觉导引模块105和AR语音辅助导引模块106选择引导信息提供决策支持数据；
    (6)AR视觉引导：AR视觉导引模块(105)根据决策支持信息，在移动终端捕获的真实场景视频流中叠加视觉引导信息；
    (7)AR语音辅助引导：AR语音辅助导引模块(106)根据决策支持和视觉引导内容，生成相应的语音引导内容，通过增加信息传递维度来降低信息接收难度；
    (8)引导内容实时更新：用户根据AR引导信息，在路口选择方向并行进，移动终端中的摄像头视野脱离AR识别物(102)后，移动终端位姿估计与追踪模块(110)根据最后的移动终端位姿和用户实际行进方向估计移动终端实时位姿，接着根据不断变化的移动终端位姿，实时更新视觉引导信息，确保与决策支持信息一致，然后结合停车场数字模型中的相邻节点间的距离信息，估计用户到达下一路口的时间，并提醒用户及时扫码，以确保实时更新系统中当前路口编号信息；
    (9)重复步骤(4)至步骤(8)，直到用户达到车位，找到自己的车。
  6. 根据权利要求5所述的基于增强现实的室内寻车引导方法，其特征是，步骤(3)中，所述数字地图构建模块(108)的输出结果包含停车的场拓扑结构和真实尺寸，所述拓扑结构中的每个节点代表车位或路口，并对应着唯一编号，所述拓扑结构中的每条边代表相邻节点之间的距离。
  7. 根据权利要求5所述的基于增强现实室内寻车引导方法，其特征是，步骤(5)的具体步骤为：(a)如果系统尚未生成最优路径，决策支持模块(109)根据停入车位编号、停车场数字模型以及用户所在路口的编号计算最优路径并给出当前路口的决策支持信息；(b)如果最优路径已经生成，决策支持模块(109)仅比对当前路口编号与最优路径中对应编号是否相同；(c)如果编号不同，则删除当前最优路径并重复所述步骤(a)。
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