CN103424113A - Indoor positioning and navigating method of mobile terminal based on image recognition technology - Google Patents

Indoor positioning and navigating method of mobile terminal based on image recognition technology Download PDF

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Publication number
CN103424113A
CN103424113A CN2013103340566A CN201310334056A CN103424113A CN 103424113 A CN103424113 A CN 103424113A CN 2013103340566 A CN2013103340566 A CN 2013103340566A CN 201310334056 A CN201310334056 A CN 201310334056A CN 103424113 A CN103424113 A CN 103424113A
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mobile terminal
scene image
scene
prestores
image information
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CN2013103340566A
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CN103424113B (en
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毛蔚青
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Shanghai Xiupin Information Technology Co ltd
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Individual
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Priority to PCT/CN2013/084629 priority patent/WO2015014018A1/en
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3602—Input other than that of destination using image analysis, e.g. detection of road signs, lanes, buildings, real preceding vehicles using a camera

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Navigation (AREA)

Abstract

The invention discloses an indoor positioning and navigating method of a mobile terminal based on an image recognition technology. The indoor positioning and navigating method comprises the following steps: 1) acquiring a real-time scene image of the position where a user is located; 2), sending the real-time image information to a server, and performing the characteristic comparison and recognition on a plurality of real-time scene image information in a server database; 3) obtaining the matched prestored scene image information and the corresponding prestored scene position information; 4), sending the corresponding prestored scene position information to the mobile terminal; 5) displaying the scene map, and marking the corresponding prestored scene position information in the scene map. Through the adoption of the method, the scene positioning is achieved by practical scenes on the spot directly, and the method has the advantages of simplicity, convenience, flexibility, accuracy, strong reliability, strong adaptability, and capability of covering any position.

Description

Indoor positioning and the air navigation aid of mobile terminal based on image recognition technology
Technical field
The present invention relates to mobile terminal indoor positioning and navigation application and mobile internet technical field, relate in particular to indoor positioning and the air navigation aid of a kind of mobile terminal based on image recognition technology.
Background technology
Along with popularizing of smart mobile phone application, the outdoor location of the mobile terminal based on GPS and navigation application are increasingly mature; The indoor positioning navigation refers to location, position and the target navigation in interior of building or indoor environment, due to the interior space and building structure complexity, simple GPS technology can't meet positioning requirements, therefore diversified indoor positioning technology and method has appearred, mainly comprise: the signal framing such as WiFi, communication base station, bluetooth, NFC, RFID, ultrasonic, earth magnetism, Quick Response Code and specific identifier thing location, and the locator meams etc. of utilizing embedded in mobile phone sensor (gyroscope, acceleration transducer, aspect sensor etc.) pursuit movement.
Above-mentioned all kinds of indoor positioning and airmanship or by various induction of signal with the location local position, or need to settle location marker, have respectively jitter, locate inaccurate, easily break down or the problem and blemish such as damage, perhaps due to hardware device laying, field signal acquisition, lay the engineer operations such as location marker, need property management and relevant owner aspect to coordinate, thereby the enforcement difficulty is large, operation cost is high; Simultaneously, such as in the indoor mode that Quick Response Code and specific identifier thing are set, also exist Quick Response Code and the specific identifier thing must arrange in position, the defect can't optional position arranged, thereby reduced the accuracy of location, on the other hand, Quick Response Code and specific identifier thing are easily damaged because of artificial or unartificial factor, have increased extra maintenance cost.In view of above-mentioned factors, indoor positioning and navigation are still difficult universal so far.
Summary of the invention
The technical problem to be solved in the present invention is to overcome defect of the prior art, indoor positioning and the air navigation aid of a kind of mobile terminal based on image recognition technology is provided, location and navigation mainly for interior of building, main points are to adopt the scene locator meams, use the built-in camera function of mobile terminal, obtain near the environment real scene image information user, using the position of being mated as reference, thereby know self-position.
For addressing the above problem, indoor positioning and the air navigation aid of a kind of mobile terminal of the present invention based on image recognition technology comprises the following steps:
1) obtain the instant scene image of user present position;
2) described instant scene image information is sent to server, and with server database in some scene image information that prestore carry out aspect ratio to, identification; Each pre-stored image information correspondence one field position information that prestores wherein;
3) obtain the scene image information that prestores and the field position information that prestores corresponding to this scene image information that prestores be complementary be complementary with described instant scene image information;
4) the field position information that prestores corresponding to the scene image information that prestores be complementary obtained in step 3 is sent to mobile terminal;
5) displaying scene map, and the field position information that prestores corresponding to the scene image information that prestores be complementary obtained in step 3 is indicated in map at the scene.
After described step 5, also comprise:
6) carry out the navigation feature fill order for target location.
Further comprising the steps of before described step 3:
21) judge whether instant scene image information can be complementary with a certain scene image information that prestores, and if so, enters step 3, if not, the prompting user obtains instant scene image again, and returns to step 1.
Data acquisition in described database comprises the following steps:
A) obtain fabric structure figure and each floor plan, set up indoor map;
B) determine a plurality of location points at Indoor environment, gather indoor scene image at each location point respectively;
C) by the indoor scene image collected, with the location point that gathers this image, carry out associated.
Between described mobile terminal and server, by mobile internet, carry out communication.
Described mobile terminal comprises smart mobile phone, panel computer or Wearable electronic product.
Described fill order comprises that the relative position from the user position to target location shows, path shows and navigation instruction.
Adopt indoor positioning and the air navigation aid of mobile terminal of the present invention based on image recognition technology, directly utilize on-the-spot actual scenery to realize the scene location, advantage is simple, convenient, flexibly, accurately, reliability is strong, strong adaptability, can cover optional position, and any equipment for location both need not be installed at the scene, perhaps build private server, also need not settle at the scene any marker for location, avoided the stability of other all kinds of locator meamss (as WiFi location etc.) bad, the problems such as location is inaccurate, the loaded down with trivial details work of complexity and the operation cost of equipment I&M have also been avoided, and the marker installation position is limited, be difficult for looking for and the easy problem such as destroyed.
The accompanying drawing explanation
The data acquisition flow that Fig. 1 is database in the present invention;
Fig. 2 is indoor positioning flow process in the present invention;
The positioning starting interface schematic diagram that Fig. 3 is mobile terminal in the present invention;
The positioning action interface schematic diagram that Fig. 4 is mobile terminal in the present invention;
The locating and displaying interface schematic diagram that Fig. 5 is mobile terminal in the present invention.
Embodiment
In order to make those skilled in the art person understand better technical solution of the present invention, below in conjunction with embodiment, the present invention is described in further detail, but the present invention is not limited to listed embodiment.
Indoor positioning and the air navigation aid of a kind of mobile terminal of the present invention based on image recognition technology, need the user such as smart mobile phone, panel computer, and glasses (Google's glasses), wrist-watch etc. dress the standby indoor positioning based on pattern recognition technique of tool for mounting on the mobile terminal such as electronic product and the client application software of navigation feature, this client is connected with the background server of client operator by mobile Internet; Perhaps add and can carry this service and but the join dependency location navigation is served other client application platform (as: micro-letter public account number etc.) of operator's background server.
At first the above-mentioned operator of this location navigation service that provides need to complete following data acquisition step (as shown in Figure 1):
A) obtain fabric structure figure and each floor plan, set up indoor map;
B) determine a plurality of location points at Indoor environment, gather indoor scene image at each location point respectively; In this step, the data acquisition personnel can use the image collecting device such as digital camera, at described location point place, gather near its indoor scene image; At each location point place, can gather a plurality of images along different angles and direction; Owing to can adopting this mode of taking pictures to obtain indoor scene image, therefore be not subject to the restriction in place, as long as at the location point that can photograph scene, just can take arbitrarily great amount of images, for follow-up accurate location provides with reference to supporting;
C) the indoor scene image that collects and the location point that gathers this image are carried out associated, described location point information is the field position information that prestores; Determine information corresponding to each location point simultaneously in the fabric structure figure obtained and each floor plan in steps A.
After establishing database, operator can also be upgraded database in good time simultaneously.
The user, in Indoor environment execute-in-place location navigation function, need complete following steps (as shown in Figure 2):
1) obtain the instant scene image of user present position;
In this step, the user is in the needs indoor navigation, can use having in its mobile terminal to the present invention is based on the client application software of indoor positioning and the navigation feature of pattern recognition technique, at first start this application software, enter interface (as shown in Figure 3), location; The user selects to start location, and camera function is opened, displaying scene picture (as shown in Figure 4); Near the scene that the user selects, in environment, can have the terrestrial reference function, as reference point, is aimed at this scene by the mobile terminal camera lens, clicks and takes pictures or scan, thereby obtain the instant scene image of user present position;
2) mobile terminal, after obtaining instant scene image, is sent to server by described instant scene image information, server by the some scene image information that prestore in the instant scene image information and date storehouse of receiving carry out aspect ratio to, identification; Each pre-stored image information corresponding associated one field position information that prestores wherein, this field position information that prestores is the information of foregoing location point;
When the user obtains instant scene image, possible shooting angle, the depth of field from obtain while prestoring scene image different, perhaps on-the-spot scene is by partial occlusion, therefore instant possibly of scene image that the user obtains can't be identical with the scene image that prestores, therefore some scene image information that prestore that in this step, server is transferred in database are compared by image recognition technology with instant scene image, and judge identical with instant scene image or the akin scene image that prestores, the degree of approximation of the two can be set arbitrarily as required, for example, in 60%～100% interval, when instant scene image with prestore the degree of approximation of scene image in above-mentioned interval range the time, the information that judges the two is complementary,
Image recognition technology can realize the comparison to two width picture feature information, thereby determine the two similarity, therefore without at indoor coded graphics, natural image or the object with recognition feature of additionally setting up, the image that only need to obtain indoor real scene original appearance deposits database in and gets final product as the scene image that prestores, then when the user need to locate, take instant scene image and these scene images that prestores carry out image recognition, find out the scene image that prestores be complementary with it;
Between described mobile terminal and server, by mobile internet, carry out communication;
Use mobile internet that mobile terminal is connected and carries out exchanges data with the server on backstage, can utilize the powerful data processing function of background server, the quick identical or akin scene image that prestores of the instant scene image sent with mobile terminal that promptly finds, can store a large amount of scene images that prestores in server, to meet pinpoint needs simultaneously;
21) judge whether instant scene image information can be complementary with a certain scene image information that prestores, and if so, enters step 3, if not, the prompting user obtains instant scene image again, and returns to step 1;
May there be quality problems in the instant scene image collected due to the user, the scene image information deficiency perhaps prestored in database, the situation that likely exists instant scene image information to be complementary with the scene image information that prestores, and then can't complete location, therefore when above-mentioned situation occurs, server sends the information indicating user to mobile terminal and again obtains instant scene image, and returns to step 1;
3) when instant scene image information can be complementary with a certain scene image information that prestores, obtain this scene image information that prestores, and the field position information that prestores corresponding to this scene image information that prestores be complementary;
4) the field position information that prestores corresponding to the scene image information that prestores be complementary obtained in step 3 is sent to mobile terminal;
5) mobile terminal displaying scene map, and the field position information that prestores corresponding to the scene image information that prestores be complementary obtained in step 3 is indicated in map at the scene, this sign point is user's anchor point, as shown in Figure 5;
6) carry out the navigation feature fill order for target location.
Described fill order comprises that the relative position from the user position to target location shows, path shows and navigation instruction.
The user can also obtain and collect instant scene image information at any time, searches so that follow-up and positions (as: parking spot, merchant store position etc.).
The above is only basic embodiment of the present invention; for those skilled in the art; under the premise without departing from the principles of the invention, can also make some improvement, retouching and development, these also should be considered as protection scope of the present invention based on improvement of the present invention, retouching and development.

Claims (7)

1. indoor positioning and the air navigation aid of a mobile terminal based on image recognition technology, is characterized in that, comprises the following steps:
1) obtain the instant scene image of user present position;
2) described instant scene image information is sent to server, and with server database in some scene image information that prestore carry out aspect ratio to, identification; Each pre-stored image information correspondence one field position information that prestores wherein;
3) obtain the scene image information that prestores and the field position information that prestores corresponding to this scene image information that prestores be complementary be complementary with described instant scene image information;
4) the field position information that prestores corresponding to the scene image information that prestores be complementary obtained in step 3 is sent to mobile terminal;
5) displaying scene map, and the field position information that prestores corresponding to the scene image information that prestores be complementary obtained in step 3 is indicated in map at the scene.
2. indoor positioning and the air navigation aid of mobile terminal as claimed in claim 1 based on image recognition technology, is characterized in that, after described step 5, also comprises:
6) carry out the navigation feature fill order for target location.
3. indoor positioning and the air navigation aid of mobile terminal as claimed in claim 2 based on image recognition technology, is characterized in that, described fill order comprises that the relative position from the user position to target location shows, path shows and navigation instruction.
4. indoor positioning and the air navigation aid of mobile terminal as claimed in claim 1 based on image recognition technology, is characterized in that, further comprising the steps of before described step 3:
21) judge whether instant scene image information can be complementary with a certain scene image information that prestores, and if so, enters step 3, if not, the prompting user obtains instant scene image again, and returns to step 1.
5. indoor positioning and the air navigation aid of mobile terminal as claimed in claim 1 based on image recognition technology, is characterized in that, the data acquisition in described database comprises the following steps:
A) set up the Indoor environment map;
B) determine a plurality of location points at Indoor environment, gather indoor scene image at each location point respectively;
C) by the indoor scene image collected, with the location point that gathers this image, carry out associated.
6. indoor positioning and the air navigation aid of mobile terminal as described as claim 1 to 5 any one based on image recognition technology, is characterized in that, between described mobile terminal and server, by mobile internet, carries out communication.
7. indoor positioning and the air navigation aid of mobile terminal as described as claim 1 to 5 any one based on image recognition technology, is characterized in that, described mobile terminal comprises smart mobile phone, panel computer or Wearable electronic product.
CN201310334056.6A 2013-08-01 2013-08-01 Indoor positioning and navigating method of mobile terminal based on image recognition technology Expired - Fee Related CN103424113B (en)

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