Image capture-based Visual Map database construction method and indoor positioning method using database

An image acquisition and indoor positioning technology, applied in the field of indoor positioning and navigation, can solve the problem of low WLAN positioning accuracy

Active Publication Date: 2015-04-01
严格集团股份有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The present invention aims to solve the problem of low positioning accuracy of WLAN due to the influence of multiple factors such as the opening and closing of doors, people's walking, and walls blocking radio signals indoors, thereby providing a method for establishing a Visual Map database based on image collection and Indoor positioning method using the database

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  • Image capture-based Visual Map database construction method and indoor positioning method using database
  • Image capture-based Visual Map database construction method and indoor positioning method using database
  • Image capture-based Visual Map database construction method and indoor positioning method using database

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specific Embodiment approach 1

[0071] The specific embodiment one, based on the Visual Map database establishment method of image collection, it comprises the following steps:

[0072] Step 1: Select the appropriate coordinate origin P according to the indoor environment that needs to be positioned 0 (X 0 ,Y 0 ), establish a two-dimensional Cartesian coordinate system;

[0073] Step 2: Starting from the coordinate origin, establish a reference point every 1 meter along the x-axis, and every 0.5 m along the y-axis, and collect 4 images for each reference point, respectively according to 0°, 90°, 180°, 270° Or 45°, 135°, 225°, 315° for image acquisition at uniform intervals, such as image 3 shown. And calculate the rotation matrix R of the camera when the reference point captures the image r ;

[0074] Step 3: Use the 128-point SURF algorithm to extract feature points from the images collected from 4 angles of each reference point, and correspond to the coordinates of the reference point in the coordin...

specific Embodiment approach 2

[0075] Specific embodiment two, utilize the indoor positioning method of the Visual Map database described in specific embodiment one, it is realized by the following steps:

[0076] Step A, in the online phase, use the 128-point SURF algorithm on the mobile phone to extract the feature point information of the image provided by the location service user, and transmit the feature point to the server;

[0077] Step B. Use the KNN algorithm for the feature points of the image, retrieve the feature points of k images that best match the provided feature points in the server, and record the corresponding position coordinates P(X, Y) and rotation of the k feature points Matrix R r ;

[0078] Step C, using the RANSAC algorithm to eliminate mismatching points between the matched image and the image provided by the user, and improve the positioning accuracy. The algorithm flow chart is shown in FIG. 4 . Where t represents the threshold of the preset Euclidean distance, n represents ...

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Abstract

The invention discloses an image capture-based Visual Map database construction method and an indoor positioning method using the database, relates to the field of indoor positioning and navigation, and aims at solving the problem of low WLAN positioning precision due to the influence of multiple factors such as door opening and closing, people walking and wall blocking. The indoor positioning method comprises the following steps: establishing an offline Visual Map, extracting feature points of a photo shot by a smartphone of a user to match with the feature points of images on fingerprints at positions in the Visual Map, and precisely estimating the position of the user by using epipolar geometry. The image capture-based Visual Map database construction method and the indoor positioning method using the database are suitable for indoor positioning occasions.

Description

technical field [0001] The invention relates to the field of indoor positioning and navigation. Background technique [0002] With the popularization of smart phones, location-based services are getting more and more attention. Today's satellite positioning system only solves the problem of outdoor positioning. In an indoor environment, satellite signals will be severely attenuated, resulting in a serious loss of positioning accuracy. In recent years, the indoor positioning method based on WLAN has been extensively studied due to its convenient deployment. However, the current research results show that its positioning accuracy is greatly affected by factors such as the density of people in the room and wall occlusion. The research on vision-based positioning methods began in the field of robot positioning. However, in recent years, with the development of smart phones with cameras and the improvement of mobile phone computing capabilities, vision-based indoor positioning m...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/00G06K9/46
CPCG06T7/30G06T2207/10004
Inventor 谭学治关凯马琳郭士增
Owner 严格集团股份有限公司
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