CN103903253B - A kind of movable termination localization method and system - Google Patents
A kind of movable termination localization method and system Download PDFInfo
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- CN103903253B CN103903253B CN201210587354.1A CN201210587354A CN103903253B CN 103903253 B CN103903253 B CN 103903253B CN 201210587354 A CN201210587354 A CN 201210587354A CN 103903253 B CN103903253 B CN 103903253B
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Abstract
The present invention discloses a kind of movable termination localization method and terminal.The movable termination is provided with image acquisition units, and methods described includes：First image information is obtained by described image collecting unit, described first image information is used to represent the external environment in described image collecting unit acquisition range；Extract the characteristic information in described first image information；Judge whether the characteristic information matches with the characteristic information in pre-stored image information, obtain the first judged result；When the characteristic information during first judged result represents the characteristic information and pre-stored image information matches, the movable termination present position is determined.Whether using the method for the present invention or system, it is position that the movable termination was once reached, and then draw out the plane picture information of external environment exactly that can be accurately judged to the location of movable termination.
Description
Technical field
The present invention relates to sensing control field, more particularly to a kind of movable termination localization method and system.
Background technology
With continuing to develop for electronic technology, the function of electronic equipment is also more and more various.In the prior art, there is class electricity
Sub- equipment is provided with the first-class image acquisition units of shooting, external image information can be obtained, so as to realize the spy of environment to external world
Survey.This class of electronic devices is also referred to as movable termination.
In order to preferably represent the external environment information that movable termination is detected, movable termination can be controlled according to spy
The image information of the external environment for measuring carries out map structuring.After completing map structuring, the plan of external environment can be obtained.
During map structuring, it is assumed that movable termination often moves a segment distance, all in a room from the A points in room
Corresponding cartographic information can be constructed.After movable termination moves a circle in a room, when turning again to A points, if ground
The process for scheming to build is correct, then should obtain a complete plan on the room.
But, movable termination localization method of the prior art, it is impossible to be accurately judged to the position residing for movable termination
Whether put is position that the movable termination was once reached, therefore, movable termination localization method of the prior art is not yet
The plane picture information of external environment can exactly be drawn out.
The content of the invention
It is an object of the invention to provide a kind of movable termination localization method and system, can be accurately judged to removable whole
Whether the location of end is position that the movable termination was once reached, and then draw out the plane of external environment exactly
Image information.
To achieve the above object, the invention provides following scheme：
A kind of movable termination localization method, the movable termination is provided with image acquisition units, and methods described includes：
First image information is obtained by described image collecting unit, described first image information is used to represent described image
External environment in collecting unit acquisition range；
Extract the characteristic information in described first image information；
Judge whether the characteristic information matches with the characteristic information in pre-stored image information, obtain the first judgement knot
Really；
When the characteristic information during first judged result represents the characteristic information and pre-stored image information matches,
Determine the movable termination present position.
Optionally, methods described also includes：
When the characteristic information during first judged result represents the characteristic information and pre-stored image information is mismatched,
According to described first image information, position and the attitude information of the movable termination are calculated；
According to the position and attitude information, map structuring is carried out.
Optionally, the pre-stored image information is generated when the movable termination reaches different positions, described
Position has a upper position adjacent with the position and the next position, and the corresponding pre-stored image information in different positions is different,
Methods described also includes：
When the characteristic information during first judged result represents the characteristic information and pre-stored image information matches,
Determine the first position that the corresponding movable termination of the pre-stored image information was once reached；
The second pre-stored image information corresponding to the second place adjacent with the first position is obtained, wherein, described the
Two positions are a upper position adjacent with the first position；
Obtain the 4th pre-stored image letter corresponding to being presently in the 4th adjacent position of position with the movable termination
Breath, wherein, the 4th position is to be presently in the adjacent upper position in position with the movable termination；
Judge the second pre-stored image information whether with the 4th pre-stored image information match, obtain the second judgement
As a result；
When second judged result is to be, determine that the movable termination once reached current present position.
Optionally, the pre-stored image information is generated when the movable termination reaches different positions, described
Position has a upper position adjacent with the position and the next position, and the corresponding pre-stored image information in different positions is different,
Methods described also includes：
When the characteristic information during first judged result represents the characteristic information and pre-stored image information matches,
Determine the first position that the corresponding movable termination of the pre-stored image information was once reached；
Obtain the second pre-stored image information corresponding to the second place adjacent with the first position and the 3rd position institute
Corresponding 3rd pre-stored image information, wherein, the second place is a upper position adjacent with the first position, described
Three positions are the next position adjacent with the first position；
Obtain the 4th pre-stored image letter corresponding to being presently in the 4th adjacent position of position with the movable termination
The 5th image information corresponding to breath and the 5th position, wherein, the 4th position is to be presently in the movable termination
The adjacent upper position in position, the 5th position is to be presently in the adjacent the next position in position with the movable termination；
Judge the second pre-stored image information whether with the 4th pre-stored image information match, and the described 3rd
Whether pre-stored image information matches with the 5th image information, obtains the 3rd judged result；
When the 3rd judged result is to be, determine that the movable termination once reached current present position.
Optionally, the attitude information for calculating the movable termination, including：
According to described first image information, the direction of the image acquisition units of the movable termination is calculated.
A kind of movable termination alignment system, the movable termination is provided with image acquisition units, and the system includes：
First image information acquisition unit, for obtaining the first image information, described the by described image collecting unit
One image information is used to represent the external environment in described image collecting unit acquisition range；
Feature information extraction unit, for extracting the characteristic information in described first image information；
First judging unit, for judge the characteristic information whether with pre-stored image information in characteristic information phase
Match somebody with somebody, obtain the first judged result；
Position determination unit, in representing the characteristic information and pre-stored image information when first judged result
When characteristic information matches, the movable termination present position is determined.
Optionally, also include：
Pose computing unit, in representing the characteristic information and pre-stored image information when first judged result
When characteristic information is mismatched, according to described first image information, position and the attitude information of the movable termination are calculated；
Map constructing unit, for according to the position and attitude information, carrying out map structuring.
Optionally, the pre-stored image information is generated when the movable termination reaches different positions, described
Position has a upper position adjacent with the position and the next position, and the corresponding pre-stored image information in different positions is different,
The system also includes：
First position determining unit, for representing the characteristic information and pre-stored image information when first judged result
In characteristic information when matching, determine the corresponding movable termination of the pre-stored image information was once reached first
Position；
Second pre-stored image information acquisition unit, for obtaining corresponding to the second place adjacent with the first position
Second pre-stored image information, wherein, the second place is a upper position adjacent with the first position；
4th pre-stored image information acquisition unit, adjacent in position is presently in for obtaining with the movable termination
The 4th pre-stored image information corresponding to four positions, wherein, the 4th position is to be presently in position with the movable termination
Put an adjacent upper position；
Second judging unit, for judge the second pre-stored image information whether with the 4th pre-stored image information phase
Matching, obtains the second judged result；
First closed loop determining unit, for when second judged result is to be, determining the movable termination once
Reached current present position.
Optionally, the pre-stored image information is generated when the movable termination reaches different positions, described
Position has a upper position adjacent with the position and the next position, and the corresponding pre-stored image information in different positions is different,
The system also includes：
Second place determining unit, for representing the characteristic information and pre-stored image information when first judged result
In characteristic information when matching, determine the corresponding movable termination of the pre-stored image information was once reached first
Position；
2nd the 3rd image information acquisition unit, for obtaining corresponding to the second place adjacent with the first position
The 3rd pre-stored image information corresponding to second pre-stored image information and the 3rd position, wherein, the second place be with it is described
The adjacent upper position in first position, the 3rd position is the next position adjacent with the first position；
4th the 5th image information acquisition unit, adjacent in position is presently in for obtaining with the movable termination
The 5th image information corresponding to the 4th pre-stored image information and the 5th position corresponding to four positions, wherein, described 4th
It is set to and is presently in the adjacent upper position in position with the movable termination, the 5th position is and the movable termination
It is presently in the adjacent the next position in position；
3rd judging unit, for judge the second pre-stored image information whether with the 4th pre-stored image information phase
Match, and whether the 3rd pre-stored image information matches with the 5th image information, obtains the 3rd judged result；
Second closed loop determining unit, for when the 3rd judged result is to be, determining the movable termination once
Reached current present position.
Optionally, the pose computing unit includes：
Towards computation subunit, for according to described first image information, calculating the IMAQ of the movable termination
The direction of unit.
According to the specific embodiment that the present invention is provided, the invention discloses following technique effect：
The movable termination localization method and system of the present embodiment, movable termination is gathered in institute by image acquisition units
The first image information that place's position acquisition is arrived, described first image information is matched with pre-stored image information, is judged whether
Existing characteristics information and described first image information identical pre-stored image information, if it is present can determine therefrom that described
The present position of movable termination, can be accurately judged to the location of movable termination whether be the movable termination once
The position for reaching, and then the plane picture information of external environment is drawn out exactly.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to institute in embodiment
The accompanying drawing for needing to use is briefly described, it should be apparent that, drawings in the following description are only some implementations of the invention
Example, for those of ordinary skill in the art, without having to pay creative labor, can also be according to these accompanying drawings
Obtain other accompanying drawings.
Fig. 1 is the flow chart of movable termination localization method embodiment 1 of the invention；
Fig. 2 is the flow chart of movable termination localization method embodiment 2 of the invention；
Fig. 3 is the flow chart of movable termination localization method embodiment 3 of the invention；
Fig. 4 is the flow chart of movable termination localization method embodiment 4 of the invention；
Fig. 5 is the structure chart of the movable termination alignment system embodiment 1；
Fig. 6 is the structure chart of the movable termination alignment system embodiment 2；
Fig. 7 is the structure chart of the movable termination alignment system embodiment 3.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
It is below in conjunction with the accompanying drawings and specific real to enable the above objects, features and advantages of the present invention more obvious understandable
The present invention is further detailed explanation to apply mode.
The invention discloses a kind of movable termination localization method.Wherein, the movable termination can have the external world
The robot of information detection function.The movable termination can have external information collecting unit.
Here external information collecting unit can include the image acquisition units of view-based access control model positioning, be entered using characteristic point
Row information is compared, and the external information of collection includes the image information of external information.Certainly, laser can also be used here, it is red
Outer range finding, sonar and radar etc. be used to perceive extraneous structure and（Or）The sensor of color.Different sensors is outside in collection
It is similar in equipment.Here repeat no more.
The movable termination can controllably be moved in external environment condition.The movable termination is in moving process
In, by the image information outside image acquisition units acquisition, and then map structuring can be carried out.
Fig. 1 is the flow chart of movable termination localization method embodiment 1 of the invention.As shown in figure 1, methods described can be with
Including：
Step 101：First image information is obtained by described image collecting unit, described first image information is used to represent
External environment in described image collecting unit acquisition range；
First image information can in real time be obtained by described image collecting unit；The movable termination can also be judged
Whether moved, if moved, obtained the image information conduct that presently described image acquisition units get
First image information.
Step 102：Extract the characteristic information in described first image information；
During the characteristic information refers to the image that described image information is represented, the information of notable mark action can be played.
For example, the movable termination is in the first image information that certain room gets, with a chair and a desk, that
The Cain and Abel can serve as the characteristic information in first image information, or, by the chair or desk
Corner angle are used as the characteristic information in the first image information.
Step 103：Judge whether the characteristic information matches with the characteristic information in pre-stored image information, obtain first
Judged result；
The pre-stored image information, is image information that the movable termination is arrived in the position acquisition for once reaching.
Also there is characteristic information in the pre-stored image information.In each embodiment of the invention, can be extracted in each two field picture
Go out characteristic information.These characteristic informations are probably identical, it is also possible to different.
Step 104：Characteristic information in first judged result represents the characteristic information and pre-stored image information
When matching, the movable termination present position is determined.
When the characteristic information during first judged result represents the characteristic information and pre-stored image information matches,
Represent image information that the movable termination got in current location with the movable termination in the position for once reaching
It is largely identical to put the image information for getting.In other words, this represents that the movable termination has very big
Possibility has been moved to the position for once reaching.
So, the topographic map that map structuring is obtained is carried out in moving process before according to the movable termination, just
The location of described movable termination can be determined.
In sum, the movable termination localization method of the present embodiment, movable termination is gathered by image acquisition units
In the first image information that present position gets, described first image information is matched with pre-stored image information, judged
With the presence or absence of characteristic information and described first image information identical pre-stored image information, if it is present can determine therefrom that
The present position of the movable termination, can be accurately judged to whether the location of movable termination is the movable termination
The position for once reaching, and then the plane picture information of external environment is drawn out exactly.
Fig. 2 is the flow chart of movable termination localization method embodiment 2 of the invention.As shown in Fig. 2 methods described can be with
Including：
Step 201：First image information is obtained by described image collecting unit, described first image information is used to represent
External environment in described image collecting unit acquisition range；
Step 202：Extract the characteristic information in described first image information；
Step 203：Judge whether the characteristic information matches with the characteristic information in pre-stored image information, obtain first
Judged result；
Step 204：Characteristic information in first judged result represents the characteristic information and pre-stored image information
When matching, the movable termination present position is determined.
Step 205：Characteristic information in first judged result represents the characteristic information and pre-stored image information
During mismatch, according to described first image information, position and the attitude information of the movable termination are calculated；
The position of the movable termination can refer to position of the movable termination in external environment.It is described removable
The attitude of dynamic terminal, can refer to the direction of the image acquisition units on the movable termination.It is described to calculate described removable
The attitude information of terminal, can include：According to described first image information, the image acquisition units of the movable termination are calculated
Direction.
For some specific environment, the movable termination can generate many image informations in the present context.
Also, on same position, because the direction of the movable termination is different, so what external information collecting unit was collected
The external information of a certain external environment is also differed.For example, when the movable termination is in same position, rotation in situ
360 ° of different images information that can get external environment under same position.Assuming that often rotating 30 ° can just generate a frame figure
As information, then can just generate 12 frame image informations at same position.
Step 206：According to the position and attitude information, map structuring is carried out.
Fig. 3 is the flow chart of movable termination localization method embodiment 3 of the invention.In the present embodiment, the figure that prestores
As information is generated when the movable termination reaches different positions, the position has adjacent with the position upper
One position and the next position, the corresponding pre-stored image information in different positions are different.As shown in figure 3, methods described can include：
Step 301：First image information is obtained by described image collecting unit, described first image information is used to represent
External environment in described image collecting unit acquisition range；
Step 302：Extract the characteristic information in described first image information；
Step 303：Judge whether the characteristic information matches with the characteristic information in pre-stored image information, obtain first
Judged result；
Step 304：Characteristic information in first judged result represents the characteristic information and pre-stored image information
When matching, the first position that the corresponding movable termination of the pre-stored image information was once reached is determined；
The first position, is exactly the position corresponding to the pre-stored image information for successfully carrying out characteristic matching information（Because
The movable termination each position can generate to should position pre-stored image information）.It is described successfully to carry out feature
Pre-stored image information with information, with the characteristic information phase that the movable termination is presently in the image information that position acquisition is arrived
Matching.
Step 305：The second pre-stored image information corresponding to the second place adjacent with the first position is obtained, its
In, the second place is a upper position adjacent with the first position；
Because the movable termination often reaches a new position, it is possible to corresponding image information is generated, so can
It is numbered with the image information to diverse location.Each position is properly termed as a node.Assuming that presently described removable end
The position that end moves to is the 100th node.The first position is the 2nd node, then the second place is exactly the 1st
Node.
Step 306：Obtain the 4th pre- corresponding to the movable termination being presently in the 4th adjacent position of position
Image information is deposited, wherein, the 4th position is to be presently in the adjacent upper position in position with the movable termination；
According to above it is assumed that the 4th position can be just a 100th upper position of node, i.e., the 99th section
Point.
Step 307：Judge the second pre-stored image information whether with the 4th pre-stored image information match, obtain
Second judged result；
In this step, it is possible to be to judge second image information corresponding with the 1st node, if with the 99th
The 4th corresponding image information of node, matches.
Step 308：When second judged result is to be, determines that the movable termination was once reached and be presently in
Position.
In the present embodiment, the first image information in pre-stored image information is identified is being worked as with the movable termination
When the characteristic information of the image information that front position gets matches, further to the second place and the image information of the 4th position
Carry out characteristic matching, because the second place is a upper position adjacent with the first position, the 4th position be with
The movable termination is presently in the adjacent upper position in position, so, according to the company of the movable termination motion track
Continuous property, it is recognised that when whether the second pre-stored image information with the 4th pre-stored image information match, Ke Yigeng
Plus determine that the movable termination once reached current present position.
Fig. 4 is the flow chart of movable termination localization method embodiment 4 of the invention.In the present embodiment, the figure that prestores
As information is generated when the movable termination reaches different positions, the position has adjacent with the position upper
One position and the next position, the corresponding pre-stored image information in different positions are different.As shown in figure 4, methods described can include：
Step 401：First image information is obtained by described image collecting unit, described first image information is used to represent
External environment in described image collecting unit acquisition range；
Step 402：Extract the characteristic information in described first image information；
Step 403：Judge whether the characteristic information matches with the characteristic information in pre-stored image information, obtain first
Judged result；
Step 404：Characteristic information in first judged result represents the characteristic information and pre-stored image information
When matching, the first position that the corresponding movable termination of the pre-stored image information was once reached is determined；
Step 405：Obtain the second pre-stored image information corresponding to the second place adjacent with the first position and the
The 3rd pre-stored image information corresponding to three positions, wherein, the second place is upper adjacent with the first position
Put, the 3rd position is the next position adjacent with the first position；
Step 406：Obtain the 4th pre- corresponding to the movable termination being presently in the 4th adjacent position of position
Image information and the 5th image information corresponding to the 5th position are deposited, wherein, the 4th position is and the movable termination
Be presently in the adjacent upper position in position, the 5th position be with the movable termination be presently in position it is adjacent under
One position；
Step 407：Judge the second pre-stored image information whether with the 4th pre-stored image information match, and
Whether the 3rd pre-stored image information matches with the 5th image information, obtains the 3rd judged result；
Step 408：When the 3rd judged result is to be, determines that the movable termination was once reached and be presently in
Position.
In the present embodiment, the first image information in pre-stored image information is identified is being worked as with the movable termination
When the characteristic information of the image information that front position gets matches, further to the second place and the image information of the 4th position
And the 3rd the image information of position and the 5th position carry out characteristic matching, because the second place is and the first position
An adjacent upper position, the 4th position is to be presently in the adjacent upper position in position with the movable termination, described
3rd position is the next position adjacent with the first position, and the 5th position is to be presently in the movable termination
The adjacent the next position in position, so, according to the continuity of the movable termination motion track, it is recognised that when described the
Two pre-stored image information whether with the 4th pre-stored image information match, and the 3rd pre-stored image information whether with
When 5th image information matches, can more determine that the movable termination once reached current present position.
The invention also discloses a kind of movable termination alignment system.The movable termination is provided with IMAQ list
Unit.
Fig. 5 is the structure chart of the movable termination alignment system embodiment 1.As shown in figure 5, the system can be wrapped
Include：
First image information acquisition unit 501, it is described for obtaining the first image information by described image collecting unit
First image information is used to represent the external environment in described image collecting unit acquisition range；
Feature information extraction unit 502, for extracting the characteristic information in described first image information；
First judging unit 503, for judge the characteristic information whether with pre-stored image information in characteristic information phase
Matching, obtains the first judged result；
Position determination unit 504, for representing the characteristic information and pre-stored image information when first judged result
In characteristic information when matching, determine the movable termination present position.
Wherein, the system can also include：
Pose computing unit 505, for representing the characteristic information and pre-stored image information when first judged result
In characteristic information when mismatching, according to described first image information, calculate position and the attitude information of the movable termination；
Map constructing unit 506, for according to the position and attitude information, carrying out map structuring.
Wherein, the pose computing unit can include：
Towards computation subunit, for according to described first image information, calculating the IMAQ of the movable termination
The direction of unit.
In sum, the movable termination alignment system of the present embodiment, movable termination is gathered by image acquisition units
In the first image information that present position gets, described first image information is matched with pre-stored image information, judged
With the presence or absence of characteristic information and described first image information identical pre-stored image information, if it is present can determine therefrom that
The present position of the movable termination, can be accurately judged to whether the location of movable termination is the movable termination
The position for once reaching, and then the plane picture information of external environment is drawn out exactly.
Fig. 6 is the structure chart of the movable termination alignment system embodiment 2.In the present embodiment, the pre-stored image letter
Breath is generated when the movable termination reaches different positions, and the position has upper one adjacent with the position
Put and the next position, the corresponding pre-stored image information in different positions is different.As shown in fig. 6, the system can include：
First image information acquisition unit 501, it is described for obtaining the first image information by described image collecting unit
First image information is used to represent the external environment in described image collecting unit acquisition range；
Feature information extraction unit 502, for extracting the characteristic information in described first image information；
First judging unit 503, for judge the characteristic information whether with pre-stored image information in characteristic information phase
Matching, obtains the first judged result；
First position determining unit 601, for representing the characteristic information and pre-stored image when first judged result
When characteristic information in information matches, determine what the corresponding movable termination of the pre-stored image information was once reached
First position；
Second pre-stored image information acquisition unit 602, the second place institute for obtaining adjacent with the first position is right
The the second pre-stored image information answered, wherein, the second place is a upper position adjacent with the first position；
4th pre-stored image information acquisition unit 603, for obtain, be presently in position with the movable termination adjacent
The 4th position corresponding to the 4th pre-stored image information, wherein, the 4th position is institute current with the movable termination
The adjacent upper position in place position；
Second judging unit 604, for judging whether the second pre-stored image information is believed with the 4th pre-stored image
Manner of breathing is matched, and obtains the second judged result；
First closed loop determining unit 605, for when second judged result is to be, determining the movable termination once
Through reaching current present position.
Fig. 7 is the structure chart of the movable termination alignment system embodiment 3.In the present embodiment, the pre-stored image letter
Breath is generated when the movable termination reaches different positions, and the position has upper one adjacent with the position
Put and the next position, the corresponding pre-stored image information in different positions is different.As shown in fig. 7, the system can include：
First image information acquisition unit 501, it is described for obtaining the first image information by described image collecting unit
First image information is used to represent the external environment in described image collecting unit acquisition range；
Feature information extraction unit 502, for extracting the characteristic information in described first image information；
First judging unit 503, for judge the characteristic information whether with pre-stored image information in characteristic information phase
Matching, obtains the first judged result；
Second place determining unit 701, for representing the characteristic information and pre-stored image when first judged result
When characteristic information in information matches, determine what the corresponding movable termination of the pre-stored image information was once reached
First position；
2nd the 3rd image information acquisition unit 702, the second place institute for obtaining adjacent with the first position is right
The 3rd pre-stored image information corresponding to the second pre-stored image information answered and the 3rd position, wherein, the second place be with
The adjacent upper position in the first position, the 3rd position is the next position adjacent with the first position；
4th the 5th image information acquisition unit 703, for obtain, be presently in position with the movable termination adjacent
The 4th position corresponding to the 4th pre-stored image information and the 5th image information corresponding to the 5th position, wherein, described
Four positions are to be presently in the adjacent upper position in position with the movable termination, and the 5th position is removable with described
Terminal is presently in the adjacent the next position in position；
3rd judging unit 704, for judging whether the second pre-stored image information is believed with the 4th pre-stored image
Manner of breathing is matched, and whether the 3rd pre-stored image information matches with the 5th image information, obtains the 3rd judgement knot
Really；
Second closed loop determining unit 705, for when the 3rd judged result is to be, determining the movable termination once
Through reaching current present position.
Finally, in addition it is also necessary to explanation, herein, such as first and second or the like relational terms be used merely to by
One entity or operation make a distinction with another entity or operation, and not necessarily require or imply these entities or operation
Between there is any this actual relation or order.And, term " including ", "comprising" or its any other variant meaning
Covering including for nonexcludability, so that process, method, article or equipment including a series of key elements not only include that
A little key elements, but also other key elements including being not expressly set out, or also include for this process, method, article or
The intrinsic key element of equipment.In the absence of more restrictions, the key element limited by sentence "including a ...", does not arrange
Except also there is other identical element in the process including the key element, method, article or equipment.
Through the above description of the embodiments, those skilled in the art can be understood that the present invention can be by
Software adds the mode of required hardware platform to realize, naturally it is also possible to all implemented by hardware, but in many cases before
Person is more preferably implementation method.Based on such understanding, whole that technical scheme contributes to background technology or
Person part can be embodied in the form of software product, and the computer software product can be stored in storage medium, such as
ROM/RAM, magnetic disc, CD etc., including some instructions are used to so that a computer equipment（Can be personal computer, service
Device, or the network equipment etc.）Perform the method described in some parts of each embodiment of the invention or embodiment.
Each embodiment is described by the way of progressive in this specification, and what each embodiment was stressed is and other
The difference of embodiment, between each embodiment identical similar portion mutually referring to.For system disclosed in embodiment
For, because it is corresponded to the method disclosed in Example, so description is fairly simple, related part is said referring to method part
It is bright.
Specific case used herein is set forth to principle of the invention and implementation method, and above example is said
It is bright to be only intended to help and understand the method for the present invention and its core concept；Simultaneously for those of ordinary skill in the art, foundation
Thought of the invention, will change in specific embodiments and applications.In sum, this specification content is not
It is interpreted as limitation of the present invention.
Claims (6)
1. a kind of movable termination localization method, it is characterised in that the movable termination is provided with image acquisition units, described
Method includes：
First image information is obtained by described image collecting unit, described first image information is used to represent that described image is gathered
External environment in unit acquisition range；
Extract the characteristic information in described first image information；
Judge whether the characteristic information matches with the characteristic information in pre-stored image information, obtain the first judged result, institute
Pre-stored image information is stated, is the image information that the movable termination is arrived in the position acquisition for once reaching；
When the characteristic information during first judged result represents the characteristic information and pre-stored image information matches, it is determined that
The movable termination present position；
Methods described also includes：
When the characteristic information during first judged result represents the characteristic information and pre-stored image information is mismatched, according to
Described first image information, calculates position and the attitude information of the movable termination；
According to the position and attitude information, map structuring is carried out；
The pre-stored image information is generated when the movable termination reaches different positions, and the position has and institute
Rheme puts an adjacent upper position and the next position, and the corresponding pre-stored image information in different positions is different,
Methods described also includes：
When the characteristic information during first judged result represents the characteristic information and pre-stored image information matches, it is determined that
The first position that the corresponding movable termination of the pre-stored image information was once reached；
The second pre-stored image information corresponding to the second place adjacent with the first position is obtained, wherein, the second
It is set to a upper position adjacent with the first position；
The 4th pre-stored image information corresponding to being presently in the 4th adjacent position of position with the movable termination is obtained, its
In, the 4th position is to be presently in the adjacent upper position in position with the movable termination；
Judge the second pre-stored image information whether with the 4th pre-stored image information match, obtain the second judgement knot
Really；
When second judged result is to be, determine that the movable termination once reached current present position.
2. method according to claim 1, it is characterised in that the pre-stored image information is arrived in the movable termination
Generated during up to different positions, the position has a upper position adjacent with the position and the next position, different positions
Put corresponding pre-stored image information different,
Methods described also includes：
When the characteristic information during first judged result represents the characteristic information and pre-stored image information matches, it is determined that
The first position that the corresponding movable termination of the pre-stored image information was once reached；
Obtain corresponding to the second pre-stored image information and the 3rd position corresponding to the second place adjacent with the first position
The 3rd pre-stored image information, wherein, the second place is a upper position adjacent with the first position, described 3rd
It is set to the next position adjacent with the first position；
Obtain the 4th pre-stored image information corresponding to the movable termination being presently in the 4th adjacent position of position and
The 5th image information corresponding to 5th position, wherein, the 4th position is to be presently in position with the movable termination
An adjacent upper position, the 5th position is to be presently in the adjacent the next position in position with the movable termination；
Judge the second pre-stored image information whether with the 4th pre-stored image information match, and the described 3rd prestore
Whether image information matches with the 5th image information, obtains the 3rd judged result；
When the 3rd judged result is to be, determine that the movable termination once reached current present position.
3. method according to claim 1, it is characterised in that the attitude information of the calculating movable termination, bag
Include：
According to described first image information, the direction of the image acquisition units of the movable termination is calculated.
4. a kind of movable termination alignment system, it is characterised in that the movable termination is provided with image acquisition units, described
System includes：
First image information acquisition unit, for obtaining the first image information, first figure by described image collecting unit
As information is used to represent the external environment in described image collecting unit acquisition range；
Feature information extraction unit, for extracting the characteristic information in described first image information；
First judging unit, for judging whether the characteristic information matches with the characteristic information in pre-stored image information, obtains
To the first judged result, the pre-stored image information is figure that the movable termination is arrived in the position acquisition for once reaching
As information；
Position determination unit, for representing the characteristic information and pre-stored image information when first judged result in feature
During information match, the movable termination present position is determined；
Also include：
Pose computing unit, for representing the characteristic information and pre-stored image information when first judged result in feature
When information is mismatched, according to described first image information, position and the attitude information of the movable termination are calculated；
Map constructing unit, for according to the position and attitude information, carrying out map structuring；
The pre-stored image information is generated when the movable termination reaches different positions, and the position has and institute
Rheme puts an adjacent upper position and the next position, and the corresponding pre-stored image information in different positions is different,
The system also includes：
First position determining unit, in representing the characteristic information and pre-stored image information when first judged result
When characteristic information matches, first that the corresponding movable termination of the pre-stored image information was once reached is determined
Put；
Second pre-stored image information acquisition unit, for obtaining second corresponding to the second place adjacent with the first position
Pre-stored image information, wherein, the second place is a upper position adjacent with the first position；
4th pre-stored image information acquisition unit, adjacent the 4th in position is presently in for obtaining with the movable termination
The 4th corresponding pre-stored image information is put, wherein, the 4th position is to be presently in position phase with the movable termination
An adjacent upper position；
Second judging unit, for judge the second pre-stored image information whether with the 4th pre-stored image information phase
Match somebody with somebody, obtain the second judged result；
First closed loop determining unit, for when second judged result is to be, determining that the movable termination was once reached
Cross current present position.
5. system according to claim 4, it is characterised in that the pre-stored image information is arrived in the movable termination
Generated during up to different positions, the position has a upper position adjacent with the position and the next position, different positions
Put corresponding pre-stored image information different,
The system also includes：
Second place determining unit, in representing the characteristic information and pre-stored image information when first judged result
When characteristic information matches, first that the corresponding movable termination of the pre-stored image information was once reached is determined
Put；
2nd the 3rd image information acquisition unit, for obtaining second corresponding to the second place adjacent with the first position
The 3rd pre-stored image information corresponding to pre-stored image information and the 3rd position, wherein, the second place is and described first
The adjacent upper position in position, the 3rd position is the next position adjacent with the first position；
4th the 5th image information acquisition unit, adjacent the 4th in position is presently in for obtaining with the movable termination
The 5th image information corresponding to corresponding the 4th pre-stored image information and the 5th position is put, wherein, the 4th position is
The adjacent upper position in position is presently in the movable termination, the 5th position is current with the movable termination
The adjacent the next position in present position；
3rd judging unit, for judge the second pre-stored image information whether with the 4th pre-stored image information phase
Match somebody with somebody, and whether the 3rd pre-stored image information matches with the 5th image information, obtains the 3rd judged result；
Second closed loop determining unit, for when the 3rd judged result is to be, determining that the movable termination was once reached
Cross current present position.
6. system according to claim 4, it is characterised in that the pose computing unit includes：
Towards computation subunit, for according to described first image information, calculating the image acquisition units of the movable termination
Direction.
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| CN106289186B (en) * | 2016-09-21 | 2019-04-19 | 南京航空航天大学 | The airborne visual detection of rotor wing unmanned aerial vehicle and multi-target positioning system and implementation method |
| WO2020102946A1 (en) * | 2018-11-19 | 2020-05-28 | 珊口（深圳）智能科技有限公司 | Map building method and system, positioning method and system, navigation method and system, control method and system, and mobile robot |
| CN111609836A (en) * | 2019-02-26 | 2020-09-01 | 上海太昂科技有限公司 | Gradient identification method, system, medium, terminal and device based on depth vision |
| CN110262503B (en) * | 2019-07-01 | 2022-06-03 | 百度在线网络技术（北京）有限公司 | Unmanned vending vehicle scheduling method, device, equipment and readable storage medium |
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