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An indoor positioning method and device based on SLAM

An indoor positioning and positioning image technology, applied in the field of scene recognition, can solve the problems of manual collection, time-consuming and labor-intensive working methods, and inability to obtain accurate position and attitude information, achieving high recognition accuracy and improving the effect of accuracy

Inactive Publication Date: 2019-04-23
ACAD OF OPTO ELECTRONICS CHINESE ACAD OF SCI
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Problems solved by technology

[0006] For the traditional indoor positioning method based on image retrieval, the position information database needs to be collected manually, the working method is time-consuming and laborious, and the defects of accurate position and attitude information cannot be obtained

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  • An indoor positioning method and device based on SLAM
  • An indoor positioning method and device based on SLAM
  • An indoor positioning method and device based on SLAM

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Embodiment Construction

[0025] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0026] It should be noted that, in this document, the terms "comprising", "comprising" or any other variation thereof are intended to cover a non-exclusive inclusion such that a process, method, article or apparatus comprising a set of elements includes not only those elements, It also includes other elements not expressly listed, or elements inhe...

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Abstract

The embodiment of the invention provides an indoor positioning method and device based on SLAM. The method comprises the steps of obtaining a to-be-positioned image uploaded by a user terminal, constructing a picture database with pose information rapidly through an SFM algorithm; extracting a feature vector of a to-be-positioned image and a feature vector set of a database image through a convolutional neural network; calculating the similarity between the feature vectors of the to-be-positioned image and the database image, completing loopback detection, and obtaining the image with the highest similarity with the to-be-positioned image in the image database and the first pose information corresponding to the image, thereby obtaining the accurate position and pose information of the userterminal. Compared with a traditional visual SLAM algorithm which adopts a word bag model and is weak in recognition capability, the deep features of the image are learned through the neural network,the higher recognition accuracy can be achieved, and the accuracy of loop detection is improved.

Description

technical field [0001] Embodiments of the present invention relate to the technical field of scene recognition, and in particular to a SLAM-based indoor positioning method and device. Background technique [0002] Navigation and positioning is a hotspot in location-based service research. Currently, outdoor GNSS positioning is sufficient to provide mature positioning services, but indoor positioning technology is still in its infancy, and no one technology has an absolute advantage. According to different application requirements, indoor positioning technology is divided into two types: consumer level and industrial level. The positioning accuracy of the consumer level is required to be 1-3m, and it is required to be compatible with mobile smart terminals for consumer information guidance / marketing push, etc.; industrial level The positioning accuracy of the mobile phone is required to be at the cm-dm level, and it is generally not considered compatible with existing smart t...

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Application Information

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IPC IPC(8): G06T7/73
CPCG06T7/74G06T2207/20084
Inventor 刘振耀陈威屹
Owner ACAD OF OPTO ELECTRONICS CHINESE ACAD OF SCI
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