WO2022036475A1 - Système de positionnement intérieur basé sur la réalité augmentée pour une fusion de données multi-sources - Google Patents

Système de positionnement intérieur basé sur la réalité augmentée pour une fusion de données multi-sources Download PDF

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Publication number
WO2022036475A1
WO2022036475A1 PCT/CN2020/109423 CN2020109423W WO2022036475A1 WO 2022036475 A1 WO2022036475 A1 WO 2022036475A1 CN 2020109423 W CN2020109423 W CN 2020109423W WO 2022036475 A1 WO2022036475 A1 WO 2022036475A1
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WO
WIPO (PCT)
Prior art keywords
module
processor
positioning system
augmented reality
dimensional code
Prior art date
Application number
PCT/CN2020/109423
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English (en)
Chinese (zh)
Inventor
吕蒙蒙
殷伟萍
张志远
金星鉴
Original Assignee
南京翱翔智能制造科技有限公司
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Application filed by 南京翱翔智能制造科技有限公司 filed Critical 南京翱翔智能制造科技有限公司
Priority to PCT/CN2020/109423 priority Critical patent/WO2022036475A1/fr
Publication of WO2022036475A1 publication Critical patent/WO2022036475A1/fr

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras

Definitions

  • the invention relates to the field, in particular to an augmented reality indoor positioning system with multi-source data fusion.
  • Multi-source data sources mainly include: QR codes, indoor fixed-point, and binocular inertial navigation cameras arranged in indoor scenes. Decisions are made in the processor to obtain the final pose, and then virtual objects are displayed in real time in AR glasses.
  • code positioning is accuracy, but the disadvantage is that it cannot be continuously positioned in large-scale scenes; the positioning of binocular inertial navigation cameras has the advantages of high-precision and continuous positioning indoors, but it is easily affected by illumination and low-texture areas. Therefore, Combining the advantages of various positioning, a stable, reliable and high-precision indoor augmented reality positioning system is established. For this reason, we propose an augmented reality indoor positioning system with multi-source data fusion.
  • the main purpose of the present invention is to provide an augmented reality indoor positioning system with multi-source data fusion, which can effectively solve the problems in the background technology.
  • An augmented reality indoor positioning system with multi-source data fusion comprising a processor, a two-dimensional code identification device, a binocular inertial navigation camera, a signal source positioning device, and an AR display device;
  • a signal connection line is set between the binocular inertial navigation camera, the signal source positioning device, and the AR display device.
  • the two-dimensional code identification device includes a capture module, an identification module, and a first communication module.
  • the binocular inertial navigation camera includes a position A data acquisition module, an environmental data acquisition module, a corresponding relationship establishment module, a data conversion module and a second communication module
  • the AR display device includes a third communication module, a positioning module and a display module.
  • the two-dimensional code identification device and the processor are signally connected through a first communication module
  • the binocular inertial navigation camera and the processor are signally connected through a second communication module
  • the AR display device is connected to the processor.
  • the signals are connected between the devices through a third communication module, and a signal connection line is set between the processor and the signal source positioning device, the signal source positioning device and the AR display device, and the processor is connected with the signal source positioning device and the signal source. Both the positioning device and the AR display device are connected by a signal cable.
  • the capture module, the identification module and the first communication module are connected by signals, the capture module is used to capture the two-dimensional code in the image, the identification module is used to identify the features in the two-dimensional code, and The position information in the two-dimensional code is detected, and the first communication module is used for signal transmission.
  • the position data acquisition module, the environmental data acquisition module, the corresponding relationship establishment module, the data conversion module, and the second communication module are connected by signals, and the position data acquisition module can acquire the displacement matrix of the image displacement frame, so
  • the environmental data acquisition module acquires the three-dimensional space position data of the real scene
  • the corresponding relationship establishing module establishes the corresponding relationship between the image frame position data and the three-dimensional space data of the real scene
  • the data conversion module converts the corresponding relationship into coordinates
  • the first Two communication modules transmit information to the processor.
  • the third communication module, the positioning module and the display module are connected by signals.
  • the multi-source data fusion augmented reality indoor positioning system is provided with a two-dimensional code identification device and a binocular inertial navigation camera, and utilizes the advantage of accurate positioning of the two-dimensional code
  • the positioning of the binocular inertial navigation camera has the advantages of high-precision and continuous positioning indoors, forming an augmented reality indoor positioning system with multi-source data fusion, and using the advantages of combining various positioning to establish a stable, reliable and high-precision indoor positioning system.
  • Augmented reality positioning system and then make decisions in the processor to obtain the final position, and then display the virtual object in real time in the AR display device.
  • FIG. 1 is a diagram of an augmented reality indoor positioning system based on multi-source data fusion of the present invention.
  • FIG. 2 is a schematic diagram of a two-dimensional code identification device of an augmented reality indoor positioning system with multi-source data fusion according to the present invention.
  • FIG. 3 is a schematic diagram of a binocular inertial navigation camera of a multi-source data fusion augmented reality indoor positioning system of the present invention.
  • FIG. 4 is a schematic diagram of an AR display device of a multi-source data fusion augmented reality indoor positioning system of the present invention.
  • a multi-source data fusion augmented reality indoor positioning system includes a processor 1, a two-dimensional code identification device 2, a binocular inertial navigation camera 3, a signal source positioning device 4, and an AR display device 5 , a signal connection line is set between the processor 1 and the two-dimensional code identification device 2, the binocular inertial navigation camera 3, the signal source positioning device 4, and the AR display device 5.
  • the two-dimensional code identification device 2 includes a capture module 21, an identification Module 22, a first communication module 23, the binocular inertial navigation camera 3 includes a position data acquisition module 31, an environmental data acquisition module 32, a corresponding relationship establishment module 33, a data conversion module 34 and a second communication module 35, and the AR display device 5 includes The third communication module 51 , the positioning module 52 and the display module 53 .
  • the two-dimensional code recognition device 2 and the processor 1 are connected by a first communication module 23, the binocular inertial navigation camera 3 and the processor 1 are connected by a second communication module 35, and the AR display device 5 is connected to the processor 1.
  • the signals are connected through the third communication module 51, and signal connection lines are provided between the processor 1 and the signal source positioning device 4, the signal source positioning device 4 and the AR display device 5, and the processor 1 and the signal source positioning device 4,
  • the signal source locating device 4 and the AR display device 5 are all connected by a signal connecting line.
  • the capture module 21, the identification module 22, and the first communication module 23 are connected by signals.
  • the capture module 21 is used to capture the two-dimensional code in the image
  • the identification module 22 is used to identify the features in the two-dimensional code and detect the two-dimensional code.
  • the position information in the first communication module 23 is used for signal transmission.
  • the position data acquisition module 31, the environmental data acquisition module 32, the corresponding relationship establishment module 33, the data conversion module 34, and the second communication module 35 are connected by signals.
  • the position data acquisition module 31 can acquire the displacement matrix of the image displacement frame, the environmental data
  • the acquisition module 32 acquires the three-dimensional space position data of the real scene
  • the corresponding relationship establishment module 33 establishes the corresponding relationship between the image frame position data and the three-dimensional space data of the real scene
  • the data conversion module 34 converts the corresponding relationship into coordinates
  • the second communication module 35 converts the information transmitted to processor 1.
  • the third communication module 51 , the positioning module 52 and the display module 53 are connected by signals.
  • the present invention is an augmented reality indoor positioning system with multi-source data fusion.
  • it takes advantage of the accurate positioning of the two-dimensional code, and the positioning of the binocular inertial navigation camera has high-precision and continuous positioning indoors.
  • the advantages of the multi-source data fusion augmented reality indoor positioning system are formed, and a stable, reliable and high-precision indoor augmented reality positioning system is established by combining the advantages of various positioning, and then the decision is made in the processor 1 to get The final position, and then the virtual object is displayed on the AR display device 5 in real time.

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  • Engineering & Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • User Interface Of Digital Computer (AREA)
  • Processing Or Creating Images (AREA)

Abstract

L'invention concerne un système de positionnement intérieur basé sur la réalité augmentée (AR) pour la fusion de données multi-sources, comprenant un processeur (1), un dispositif d'Identification QR (2), une caméra de navigation inertielle binoculaire (3), un dispositif de positionnement de source de signal (4), ainsi qu'un dispositif d'affichage AR (5). Une ligne de connexion de signal est disposée entre le processeur (1) et le dispositif d'identification QR (2), la caméra de navigation inertielle binoculaire (3), le dispositif de positionnement de source de signal (4), et le dispositif d'affichage AR (5). Le dispositif d'identification QR (2) comprend un module de capture (21), un module d'identification (22) et un premier module de communication (23). La caméra de navigation inertielle binoculaire (3) comprend un module d'acquisition de données de position (31), un module d'acquisition de données environnementales (32), un module d'établissement de correspondance (33), un module de conversion de données (34) et un second module de communication (35). Le système de positionnement intérieur basé sur l'AR pour la fusion de données multi-sources adopte un mode de positionnement combiné, et permet d'éviter une défaillance ou un fonctionnement anormal du système de positionnement en raison d'une robustesse insuffisante d'un mode de positionnement unique. De plus, un système de positionnement AR intérieur stable et fiable de haute précision peut être établi.
PCT/CN2020/109423 2020-08-17 2020-08-17 Système de positionnement intérieur basé sur la réalité augmentée pour une fusion de données multi-sources WO2022036475A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/CN2020/109423 WO2022036475A1 (fr) 2020-08-17 2020-08-17 Système de positionnement intérieur basé sur la réalité augmentée pour une fusion de données multi-sources

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2020/109423 WO2022036475A1 (fr) 2020-08-17 2020-08-17 Système de positionnement intérieur basé sur la réalité augmentée pour une fusion de données multi-sources

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WO2022036475A1 true WO2022036475A1 (fr) 2022-02-24

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107992188A (zh) * 2016-10-26 2018-05-04 宏达国际电子股份有限公司 虚拟现实交互方法、装置与系统
CN108694730A (zh) * 2017-04-06 2018-10-23 赫克斯冈技术中心 使用图像跟踪的ar装置的近场操纵
CN109685889A (zh) * 2018-04-27 2019-04-26 福建优合创智教育发展有限公司 一种场景扫描定位方法、存储介质及系统
CN110673612A (zh) * 2019-10-21 2020-01-10 重庆邮电大学 一种自主移动机器人二维码引导控制方法
CN110910311A (zh) * 2019-10-30 2020-03-24 同济大学 一种基于二维码的多路环视相机自动拼接方法

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107992188A (zh) * 2016-10-26 2018-05-04 宏达国际电子股份有限公司 虚拟现实交互方法、装置与系统
CN108694730A (zh) * 2017-04-06 2018-10-23 赫克斯冈技术中心 使用图像跟踪的ar装置的近场操纵
CN109685889A (zh) * 2018-04-27 2019-04-26 福建优合创智教育发展有限公司 一种场景扫描定位方法、存储介质及系统
CN110673612A (zh) * 2019-10-21 2020-01-10 重庆邮电大学 一种自主移动机器人二维码引导控制方法
CN110910311A (zh) * 2019-10-30 2020-03-24 同济大学 一种基于二维码的多路环视相机自动拼接方法

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