Blind person walking positioning method based on computer binocular vision and inertial measurement

Abstract

The invention discloses a blind person walking positioning method based on computer binocular vision and inertial measurement. On one hand, a binocular camera worn on the head of a blind person is used for acquiring a scene image, a marker with longitude and latitude already known in the scene is searched in an image feature matching method, and a computer binocular stereo vision method is adopted to calculate three-dimensional coordinates of the marker in a camera coordinate system; on the other hand, a combined inertial device fixed on the camera is used for measuring the attitude angle of the camera, and a conversion matrix for the camera coordinate system in relative to a geographic coordinate system for the position where the blind person is is calculated; and the conversion matrix is used for converting the camera coordinate system for the marker into the geographic coordinate system for the position where the blind person is, and the longitude and the latitude of the marker are further used for calculating the longitude and the latitude of the position where the blind person walks. The method of the invention integrates the computer binocular vision algorithm and the inertial measurement technology, positioning of a blind person walking position is realized, the positioning is simple and easy to operate, the accuracy is high, and the method of the invention is particularly suitable for positioning for blind person walking guiding.

Description

technical field [0001] The invention belongs to the technical field of navigation and positioning, and relates to a walking positioning method for blind people based on computer binocular vision and inertial measurement. The method can realize accurate walking positioning of blind people, and is especially suitable for outdoor walking guides for blind people. Background technique [0002] Blind people lose their vision due to congenital or acquired physiological defects, thus losing the most important source of knowledge and experience, which has caused great obstacles to the daily life of blind people, especially the loss of their walking and positioning ability restricts their travel activities. In order to make up for the walking positioning ability of the blind, the most commonly used method is GPS positioning. However, GPS is easily affected by factors such as occlusion, attenuation, and interference. Relatively small, so it cannot meet the positioning needs of blind pe...

AI Technical Summary

Problems solved by technology

Although the positioning technology of the cellular mobile communication system can still achieve positioning in urban canyons and other environments, its positioning accuracy is low; the inertial navigation positioning system INS has a high positioning accuracy in a short period of time, but its positioning error accumulates over time, so it cannot Meet the accuracy and reliability requirements of blind walking positioning technology

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