TWI750821B - Navigation method, system, equipment and medium based on optical communication device - Google Patents
Navigation method, system, equipment and medium based on optical communication device Download PDFInfo
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- TWI750821B TWI750821B TW109133374A TW109133374A TWI750821B TW I750821 B TWI750821 B TW I750821B TW 109133374 A TW109133374 A TW 109133374A TW 109133374 A TW109133374 A TW 109133374A TW I750821 B TWI750821 B TW I750821B
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- G—PHYSICS
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
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- G—PHYSICS
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- 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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
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- H04B10/114—Indoor or close-range type systems
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Abstract
Description
本發明涉及光訊號技術和位置服務領域，更具體地涉及基於光通訊裝置的導航方法、系統、設備及介質。 The present invention relates to the field of optical signal technology and location services, and more particularly to a navigation method, system, device and medium based on an optical communication device.
現有的導航技術(例如GPS導航)獲得了廣泛的應用，用戶可以根據其攜帶的終端設備上呈現的平面地圖或全景地圖中的路線指引到達目的地。然而GPS訊號並不能提供設備的姿態訊號或方向訊號，通常需要結合終端設備(例如手機)中重力傳感器或羅盤等獲取方向從而給出相關指引，但這些傳感器通常精準度不高，且容易隨著設備移動或手持姿勢的變化給出錯誤引導。雖然透過全景地圖呈現的立體實景模型可以幫助用戶進行一定程度的修正，但是全景地圖不僅製作成本和更新維護成本高，而且需要預先傳輸或加載全景地圖，這對於終端設備的存儲和計算能力有較高要求，難以有效進行快速實時的指引。另外，GPS訊號不提供高度訊號且本身定位精準度有限，在室內會受遮擋，這很難滿足在例如繁華密集的商業街區或具有若干樓層的大型商場等場景中進行導航的精準度要求。 Existing navigation technologies (such as GPS navigation) have been widely used, and users can reach their destination according to the route guidance in the plane map or panoramic map presented on the terminal device they carry. However, the GPS signal cannot provide the attitude signal or direction signal of the device. It usually needs to be combined with the gravity sensor or compass in the terminal device (such as a mobile phone) to obtain the direction to give relevant guidance. However, these sensors are usually not accurate and easy to follow. Device movement or changes in holding position give false guidance. Although the three-dimensional reality model presented by the panoramic map can help users to make corrections to a certain extent, the panoramic map not only has high production costs and high update and maintenance costs, but also needs to transmit or load the panoramic map in advance, which has a great impact on the storage and computing power of the terminal device. High requirements make it difficult to effectively conduct fast and real-time guidance. In addition, GPS signals do not provide high-level signals and have limited positioning accuracy, which will be blocked indoors, which makes it difficult to meet the accuracy requirements for navigation in scenarios such as bustling and dense commercial blocks or large shopping malls with several floors.
本發明實施例的目的在於提供基於光通訊裝置的導航方法、系統、設備及介質，其能夠精確地獲取設備的位置訊號和姿態訊號，從而為設備提供精準的導航提示訊號。優選地，本發明還能夠透過在設備實時獲取的當前現實場景中即時疊加虛擬導航指示來準確地提供實景路線指引。 The purpose of the embodiments of the present invention is to provide a navigation method, system, device and medium based on an optical communication device, which can accurately acquire the position signal and attitude signal of the device, thereby providing accurate navigation prompt signals for the device. Preferably, the present invention can also accurately provide real-scene route guidance by superimposing virtual navigation instructions on the current real-time scene acquired by the device in real time.
根據本發明實施例的第一方面，提供了一種基於光通訊 裝置的導航方法，該方法包括：S1)根據設備所採集的包含一光通訊裝置的一圖像來識別該光通訊裝置傳遞的標識訊號，並確定該設備相對於該光通訊裝置的一位置訊號和一姿態訊號；S2)利用該標識訊號獲取預設的該光通訊裝置的位置訊號；S3)基於所獲取的光通訊裝置的位置訊號以及該設備相對於該光通訊裝置的位置訊號和姿態訊號，確定該設備當前的位置訊號和姿態訊號；S4)獲得導航提示訊號，其中，該導航提示訊號是基於目的地位置訊號以及所述設備當前的位置訊號和姿態訊號而產生的。 According to the first aspect of the embodiments of the present invention, there is provided an optical communication-based A navigation method for a device, the method comprising: S1) identifying an identification signal transmitted by the optical communication device according to an image including an optical communication device collected by the device, and determining a position signal of the device relative to the optical communication device and an attitude signal; S2) use the identification signal to obtain the preset position signal of the optical communication device; S3) based on the obtained position signal of the optical communication device and the position signal and attitude signal of the equipment relative to the optical communication device , determine the current position signal and attitude signal of the device; S4) obtain a navigation prompt signal, wherein the navigation prompt signal is generated based on the destination position signal and the current position signal and attitude signal of the device.
在本發明的一些實施例中，該方法還可包括透過所述設備重新採集任一光通訊裝置的圖像，並返回至所述步驟S1)繼續執行。 In some embodiments of the present invention, the method may further include re-acquiring the image of any optical communication device through the device, and returning to the step S1) to continue execution.
在本發明的一些實施例中，該方法還可包括透過設備內置的多個傳感器監控設備位置和姿態的變化，並基於所監控的位置和姿態的變化更新設備當前的位置訊號和姿態訊號。 In some embodiments of the present invention, the method may further include monitoring changes in the position and posture of the device through multiple sensors built in the device, and updating the current position and posture signals of the device based on the monitored changes in the position and posture.
在本發明的一些實施例中，該方法還可包括透過將所述設備視野中現實場景與預先針對該現實場景建立的場景模型進行比較來更新設備當前的位置訊號和姿態訊號。 In some embodiments of the present invention, the method may further include updating the current position signal and the gesture signal of the device by comparing the real scene in the field of view of the device with a scene model established for the real scene in advance.
在本發明的一些實施例中，所述步驟S4)包括：S41)獲得要疊加的一個或多個虛擬導航指示的疊加位置訊號，其中，所述疊加位置訊號是基於目的地位置訊號與該設備當前的位置訊號而確定的；S42)基於所述設備當前的位置訊號和姿態訊號以及所述一個或多個虛擬導航指示的疊加位置訊號，在所述設備的顯示媒介所呈現的現實場景中疊加一個或多個虛擬導航指示。 In some embodiments of the present invention, the step S4) includes: S41) obtaining a superimposed position signal of one or more virtual navigation instructions to be superimposed, wherein the superimposed position signal is based on the destination position signal and the device Determined by the current position signal; S42) Based on the current position signal and attitude signal of the device and the superimposed position signal of the one or more virtual navigation instructions, superimpose in the real scene presented by the display medium of the device One or more virtual navigation instructions.
在本發明的一些實施例中，該方法還可包括響應於更新的設備當前的位置訊號和姿態訊號，繼續執行步驟S42)或者繼續執行S41)和S42)。 In some embodiments of the present invention, the method may further include continuing to perform step S42) or continuing to perform S41) and S42) in response to the updated current position signal and attitude signal of the device.
在本發明的一些實施例中，所述目的地位置訊號可以是透過下面的步驟獲取的：在所述設備的顯示媒介上呈現目的地列表；以及響應於對於所呈現的目的地列表的其中一個目的地的選擇來獲取與所選擇的目的地相關的目的地位置訊號。 In some embodiments of the present invention, the destination location signal may be obtained by: presenting a destination list on a display medium of the device; and in response to one of the presented destination lists Destination selection to obtain destination location signals associated with the selected destination.
在本發明的一些實施例中，所述目的地位置訊號可以至少部分地基於與目的地有關的訊號來確定的，所述與目的地有關的訊號包括下列中的一個或多個或其組合：目的地名稱、目的地類型、目的地功能、目的地狀態。 In some embodiments of the invention, the destination location signal may be determined based at least in part on destination-related signals including one or more or a combination of the following: Destination name, destination type, destination function, destination status.
在本發明的一些實施例中，所述目的地位置訊號可以是基於所述設備收到的與目的地類型或目的地功能有關的訊號並結合設備當前的位置訊號來確定的。 In some embodiments of the present invention, the destination location signal may be determined based on the destination type or destination function-related signal received by the device in combination with the device's current location signal.
在本發明的一些實施例中，所述目的地位置訊號可以是基於所述設備收到的與目的地類型或目的地功能有關的訊號並結合設備當前的位置訊號以及目的地的當前狀態訊號來確定的。 In some embodiments of the present invention, the destination location signal may be based on a signal received by the device related to the destination type or destination function, combined with a current location signal of the device and a current state signal of the destination. definite.
在本發明的一些實施例中，所述目的地位置訊號可以是基於預先存儲的與目的地有關的訊號確定的。 In some embodiments of the present invention, the destination location signal may be determined based on pre-stored destination-related signals.
在本發明的一些實施例中，其中，在所述步驟S2)還獲取預設的該光通訊裝置的姿態訊號；以及其中，所述步驟S3)包括：基於所獲取的光通訊裝置的位置訊號和姿態訊號以及該設備相對於該光通訊裝置的位置訊號和姿態訊號，確定該設備當前的位置訊號和姿態訊號。 In some embodiments of the present invention, in the step S2), a preset attitude signal of the optical communication device is also acquired; and wherein the step S3) includes: based on the acquired position signal of the optical communication device and the attitude signal and the position signal and attitude signal of the equipment relative to the optical communication device to determine the current position signal and attitude signal of the equipment.
根據本發明的第二方面，提供了一種存儲介質，其中存儲有計算機程式，所述計算機程式在被執行時能夠用於實現根據本發明實施例的第一方面所述的方法。 According to a second aspect of the present invention, there is provided a storage medium in which a computer program is stored, and the computer program, when executed, can be used to implement the method according to the first aspect of the embodiments of the present invention.
根據本發明實施例的第三方面，提供了一種電子設備，包括處理器和存儲器，所述存儲器中存儲有計算機程式，所述計算機程式在被所述處理器執行時能夠用於實現根據本發明實施例的第一方面所述的方法。 According to a third aspect of the embodiments of the present invention, there is provided an electronic device comprising a processor and a memory, the memory stores a computer program, the computer program can be used to implement the present invention when executed by the processor The method of the first aspect of the embodiment.
根據本發明實施例的第四方面，提供了一種基於光通訊裝置的導航系統，包括光通訊裝置、光通訊裝置伺服器、導航伺服器，其中：該光通訊裝置伺服器用於從導航設備接收該光通訊裝置傳遞的標識訊號，並向該導航設備提供該光通訊裝置的位置訊號；以及該導航伺服器用於基於目的地位置訊號與導航設備當前的位置訊號和姿態訊號為 導航設備提供導航提示訊號其中，該導航設備當前的位置訊號和姿態訊號基於該光通訊裝置的位置訊號以及該導航設備相對於該光通訊裝置的位置訊號和姿態訊號來確定。 According to a fourth aspect of the embodiments of the present invention, there is provided a navigation system based on an optical communication device, including an optical communication device, an optical communication device server, and a navigation server, wherein: the optical communication device server is used for receiving from a navigation device The identification signal transmitted by the optical communication device provides the navigation device with the position signal of the optical communication device; and the navigation server is used for determining the position signal based on the destination position signal and the current position signal and attitude signal of the navigation device. The navigation device provides a navigation prompt signal, wherein the current position signal and attitude signal of the navigation device are determined based on the position signal of the optical communication device and the position signal and the attitude signal of the navigation device relative to the optical communication device.
在本發明的一些實施例中，其中，該光通訊裝置伺服器還用於向該導航設備提供所述光通訊裝置的姿態訊號，以及其中，該導航設備當前的位置訊號和姿態訊號基於該光通訊裝置的位置訊號和姿態訊號以及所述導航設備相對於該光通訊裝置的位置訊號和姿態訊號來確定。 In some embodiments of the present invention, the optical communication device server is further configured to provide an attitude signal of the optical communication device to the navigation device, and wherein the current position signal and attitude signal of the navigation device are based on the optical The position signal and the attitude signal of the communication device and the position signal and the attitude signal of the navigation device relative to the optical communication device are determined.
在本發明的一些實施例中，所述導航伺服器還用於基於目的地位置訊號與所述導航設備當前的位置訊號確定要疊加的一個或多個虛擬導航指示的疊加位置訊號，其中，該疊加位置訊號能夠被所述導航設備使用以基於其當前的位置訊號和姿態訊號，在所述導航設備的顯示媒介所呈現的現實場景中疊加一個或多個虛擬導航指示。 In some embodiments of the present invention, the navigation server is further configured to determine the superimposed position signal of one or more virtual navigation instructions to be superimposed based on the destination position signal and the current position signal of the navigation device, wherein the The superimposed position signal can be used by the navigation device to superimpose one or more virtual navigation instructions on the real scene presented by the display medium of the navigation device based on its current position signal and attitude signal.
在本發明的一些實施例中，該導航系統還包括所述導航設備，其用於：採集所述光通訊裝置的圖像；基於所採集的圖像來識別該光通訊裝置傳遞的標識訊號並確定該導航設備相對於該光通訊裝置的位置訊號和姿態訊號；利用該標識訊號從光通訊裝置伺服器獲取該光通訊裝置的位置訊號；基於所獲取的光通訊裝置的位置訊號以及該導航設備相對於該光通訊裝置的位置訊號和姿態訊號，確定該導航設備當前的位置訊號和姿態訊號；以及基於所述導航設備當前的位置訊號和姿態訊號以及所述一個或多個虛擬導航指示的疊加位置訊號，在所述導航設備的顯示媒介所呈現的現實場景中疊加一個或多個虛擬導航指示。 In some embodiments of the present invention, the navigation system further includes the navigation device, which is used for: collecting an image of the optical communication device; recognizing the identification signal transmitted by the optical communication device based on the collected image and Determine the position signal and attitude signal of the navigation device relative to the optical communication device; use the identification signal to obtain the position signal of the optical communication device from the optical communication device server; Based on the obtained position signal of the optical communication device and the navigation device relative to the position signal and attitude signal of the optical communication device, determine the current position signal and attitude signal of the navigation device; and based on the current position signal and attitude signal of the navigation device and the superposition of the one or more virtual navigation instructions For the position signal, one or more virtual navigation instructions are superimposed on the real scene presented by the display medium of the navigation device.
在本發明的一些實施例中，所述導航設備還用於利用所述標識訊號從光通訊裝置伺服器獲取該光通訊裝置的姿態訊號，以及基於所獲取的光通訊裝置的位置訊號和姿態訊號以及該導航設備相對於該光通訊裝置的位置訊號和姿態訊號，確定該導航設備當前的位置訊號和姿態訊號。 In some embodiments of the present invention, the navigation device is further configured to obtain the attitude signal of the optical communication device from the optical communication device server by using the identification signal, and based on the obtained position signal and attitude signal of the optical communication device and the position signal and attitude signal of the navigation device relative to the optical communication device to determine the current position signal and attitude signal of the navigation device.
本發明的實施例提供的技術方案具有但不限於以下有益效果： The technical solutions provided by the embodiments of the present invention have but are not limited to the following beneficial effects:
透過在環境中佈置的光標籤實現了對於導航對象位置和姿態的精確識別，從而能夠為導航對象提供精準的導航提示訊號。另外，本發明的一些方案可以隨著在導航對象的顯示媒介上所呈現的現實場景的不斷變換，在當前呈現的場景中實時地疊加相應的導航指示來實現快速靈活的實景路線指引，不僅適用於室外導航，更適用於室內導航。 The precise identification of the position and posture of the navigation object is realized through the light tags arranged in the environment, so that the navigation object can be provided with an accurate navigation prompt signal. In addition, some solutions of the present invention can superimpose corresponding navigation instructions in real time in the currently presented scene with the continuous change of the real scene presented on the display medium of the navigation object to realize fast and flexible real scene route guidance, which is not only applicable to It is suitable for outdoor navigation and more suitable for indoor navigation.
應當理解的是，以上的一般描述和後文的細節描述僅是示例性和解釋性的，並不能限制本發明。 It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention.
100:光標籤 100: Light Label
101:第一光源 101: The first light source
102:第二光源 102: Second light source
103:第三光源 103: The third light source
S301~S305:步驟流程 S301~S305: Step flow
S401~S405:步驟流程 S401~S405: Step flow
圖1示出了一種示例性的光標籤。 Figure 1 shows an exemplary optical label.
圖2為根據本發明一個實施例的光標籤網路的示意圖。 FIG. 2 is a schematic diagram of an optical label network according to an embodiment of the present invention.
圖3示出了根據本發明一個實施例的基於光標籤在現實場景中疊加虛擬對象的方法的流程示意圖。 FIG. 3 shows a schematic flowchart of a method for superimposing a virtual object in a real scene based on a light tag according to an embodiment of the present invention.
圖4為根據本發明一個實施例的基於光標籤的導航方法的流程示意圖。 FIG. 4 is a schematic flowchart of a navigation method based on an optical label according to an embodiment of the present invention.
圖5示出了疊加了虛擬指示箭頭的現實場景。 FIG. 5 shows a real-world scene with superimposed virtual pointing arrows.
為了使本發明的目的，技術方案及優點更加清楚明白，以下結合附圖透過具體實施例對本發明進一步詳細說明。應當理解，此處所描述的具體實施例僅用以解釋本發明，並不用於限定本發明。 In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings through specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention.
為方便描述，首先對與本發明相關的技術進行簡單說明，以幫助理解本發明的實施例，但應指出這些技術說明並不一定構成現有技術。 For the convenience of description, a brief description of the technologies related to the present invention is given first to help understand the embodiments of the present invention, but it should be pointed out that these technical descriptions do not necessarily constitute the prior art.
擴增實境技術(Augmented Reality，AR)也被稱為混合現實技術，其透過計算機技術將虛擬對象應用到現實場景，使得現實場景和虛擬對象實時地呈現到同一個畫面或空間中，從而增強用戶對現實世界的感知。在一種擴增實境應用中，可以在視野中的固定位置處疊加 一些數據訊號，例如，飛行員在學習駕駛飛機的時候，可以透過佩戴顯示頭盔來查看在現實場景上疊加的飛行數據，這些數據通常都是顯示在視野中的固定的位置處(例如，始終在左上角)。這種擴增實境技術缺乏足夠的靈活性。在另一種擴增實境應用中，可以首先識別出現實場景中的真實物體，然後將虛擬對象疊加到螢幕上顯示的該真實物體上或附近。但是，當前的擴增實境技術難以做到在現實場景中的精確位置處疊加虛擬對象，特別是當虛擬對象的疊加位置與識別出的真實物體距離較遠時。 Augmented Reality (AR) is also known as mixed reality technology, which applies virtual objects to real scenes through computer technology, so that real scenes and virtual objects are presented in the same picture or space in real time, thereby enhancing User perception of the real world. In an augmented reality application, overlays can be made at fixed locations in the field of view Some data signals, for example, when a pilot is learning to fly an airplane, he can view the flight data superimposed on the real scene by wearing a display helmet. Horn). This augmented reality technology lacks sufficient flexibility. In another augmented reality application, a real object in a real scene can be identified first, and then a virtual object can be superimposed on or near the real object displayed on the screen. However, it is difficult for the current augmented reality technology to superimpose virtual objects at precise positions in the real scene, especially when the superimposed positions of the virtual objects are far away from the recognized real objects.
光通訊裝置也稱為光標籤，這兩個術語在本文中可以互換使用。光標籤能夠透過不同的發光方式來傳遞訊號，其具有識別距離遠、可見光條件要求寬鬆的優勢，並且光標籤所傳遞的訊號可以隨時間變化，從而可以提供大的訊號容量和靈活的配置能力(例如在中國專利公開CN105740936A、CN109661666A、CN109936694A等中所描述的光通訊裝置)。光標籤中通常可以包括控制器和至少一個光源，該控制器可以透過不同的驅動模式來驅動光源，以向外傳遞不同的訊號。圖1示出了一種示例性的光標籤100，其包括三個光源(分別是第一光源101、第二光源102、第三光源103)。光標籤100還包括控制器(在圖1中未示出)，其用於根據要傳遞的訊號為每個光源選擇相應的驅動模式。例如，在不同的驅動模式下，控制器可以使用不同的驅動訊號來控制光源的發光方式，從而使得當使用具有成像功能的設備拍攝光標籤100時，其中的光源的成像可以呈現出不同的外觀(例如，不同的顏色、圖案、亮度、等等)。透過分析光標籤100中的光源的成像，可以解析出各個光源此刻的驅動模式，從而解析出光標籤100此刻傳遞的訊號。例如，該光標籤的控制器可以控制每個光源發出的光的屬性，以便傳遞訊號。例如，可以透過控制每個光源的開啟和關閉來表示二進制數字訊號的“0”或“1”，從而該光標籤中多個光源可以用於表示一個二進制數字訊號序列。 Optical communication devices are also referred to as optical tags, and the two terms are used interchangeably herein. Optical tags can transmit signals through different light-emitting methods, which have the advantages of long identification distance and loose requirements for visible light conditions, and the signals transmitted by optical tags can change with time, thus providing large signal capacity and flexible configuration capabilities ( For example, optical communication devices described in Chinese patent publications CN105740936A, CN109661666A, CN109936694A, etc.). The optical label usually includes a controller and at least one light source, and the controller can drive the light source through different driving modes to transmit different signals. FIG. 1 shows an exemplary optical label 100, which includes three light sources (a first light source 101, a second light source 102, and a third light source 103, respectively). The light label 100 also includes a controller (not shown in FIG. 1 ) for selecting a corresponding driving mode for each light source according to the signal to be delivered. For example, in different driving modes, the controller can use different driving signals to control the light-emitting manner of the light source, so that when the optical label 100 is photographed by a device with an imaging function, the imaging of the light source therein can present different appearances (eg, different colors, patterns, brightness, etc.). By analyzing the imaging of the light sources in the optical label 100 , the driving mode of each light source at the moment can be analyzed, so as to analyze the signal transmitted by the optical label 100 at the moment. For example, the controller of the light tag can control the properties of the light emitted by each light source in order to transmit the signal. For example, the "0" or "1" of a binary digital signal can be represented by controlling each light source to be turned on and off, so that multiple light sources in the optical label can be used to represent a binary digital signal sequence.
為了基於光標籤向用戶和商家提供對應的服務，每個光標籤可以被分配一個標識訊號(ID)，該標識訊號用以由光標籤的製造 者、管理者及使用者等唯一地識別或標識光標籤。通常，可由光標籤發佈其標識訊號，而使用者可以使用例如手機上內置的圖像採集設備或成像裝置對光標籤進行圖像採集來獲得該光標籤傳遞的訊號(例如標識訊號)，從而可以基於該訊號來訪問相應的服務，例如，訪問與光標籤的標識訊號相關聯的網頁、獲取與標識訊號相關聯的其他訊號(例如，與該標識訊號對應的光標籤的位置訊號)等等。本文提到的具有圖像採集功能的設備例如可以是用戶攜帶或控制的設備(例如，帶有攝像頭的手機、平板電腦、智能眼鏡、AR眼鏡、智能頭盔、智能手錶等等)，也可以是能夠自主移動的機器(例如，無人機、無人駕駛汽車、機器人等等)。設備例如可以透過其上的攝像頭對光標籤進行圖像採集來獲得包含光標籤的圖像，並透過內置的應用程式來分析圖像中的光標籤(或光標籤中的各個光源)的成像以識別出光標籤傳遞的訊號。 In order to provide corresponding services to users and businesses based on the optical label, each optical label may be assigned an identification signal (ID), which is used by the manufacturer of the optical label Users, managers, and users can uniquely identify or identify optical tags. Usually, the optical tag can issue its identification signal, and the user can use the image acquisition device or imaging device built in the mobile phone to capture the image of the optical tag to obtain the signal transmitted by the optical tag (such as the identification signal), so that the user can obtain the signal transmitted by the optical tag (such as the identification signal) Access corresponding services based on the signal, for example, visit a web page associated with the identification signal of the optical tag, obtain other signals associated with the identification signal (eg, the location signal of the optical tag corresponding to the identification signal), and so on. The device with image capture function mentioned in this article may be, for example, a device carried or controlled by a user (eg, a mobile phone with a camera, a tablet computer, smart glasses, AR glasses, smart helmets, smart watches, etc.), or it may be Machines that can move autonomously (eg, drones, driverless cars, robots, etc.). For example, the device can acquire an image of the light label through the camera on it to obtain an image containing the light label, and analyze the imaging of the light label (or each light source in the light label) in the image through the built-in application program to obtain an image containing the light label. Identify the signal transmitted by the optical tag.
光標籤可以安裝於固定或可變的位置，並可以將光標籤的標識訊號(ID)以及任何其他訊號(例如位置訊號)存儲於伺服器中。在現實中，可以將大量的光標籤構建成一個光標籤網路。圖2示出了一種示例性的光標籤網路，該光標籤網路包括多個光標籤和至少一個伺服器，其中，與每個光標籤相關的訊號可保存在伺服器上。例如，可以在伺服器上保存每個光標籤的標識訊號(ID)或任何其他訊號，例如與該光標籤相關的服務訊號、與該光標籤相關的描述訊號或屬性，如光標籤的位置訊號、型號訊號、物理尺寸訊號、物理形狀訊號、姿態或朝向訊號等。光標籤也可以具有統一的或默認的物理尺寸訊號和物理形狀訊號等。設備可以使用識別出的光標籤的標識訊號來從伺服器查詢獲得與該光標籤有關的其他訊號。光標籤的位置訊號可以是指該光標籤在物理世界中的實際位置，其可以透過地理座標訊號來指示。伺服器可以是在計算裝置上運行的軟件程式、一台計算裝置或者由多台計算裝置構成的集群。光標籤可以是離線的，也即，光標籤不需要與伺服器進行通訊。當然，可以理解，能夠與伺服器進行通訊的在線光標籤也是可行的。 Optical tags can be installed in fixed or variable positions, and can store the identification signal (ID) of the optical tags and any other signals (eg, position signals) in the server. In reality, a large number of optical tags can be constructed into an optical tag network. FIG. 2 illustrates an exemplary optical label network including a plurality of optical labels and at least one server, wherein the signal associated with each optical label may be stored on the server. For example, the identification signal (ID) of each optical tag or any other signal, such as a service signal related to the optical tag, a description signal or attributes related to the optical tag, such as the position signal of the optical tag, can be stored on the server , model signal, physical size signal, physical shape signal, attitude or orientation signal, etc. Optical labels may also have uniform or default physical size signals, physical shape signals, and the like. The device can use the identification signal of the identified optical tag to query the server for other signals related to the optical tag. The position signal of the optical tag may refer to the actual position of the optical tag in the physical world, which may be indicated by a geographic coordinate signal. A server can be a software program running on a computing device, a computing device, or a cluster of computing devices. Optical tags can be offline, ie, optical tags do not need to communicate with a server. Of course, it is understood that online optical tags capable of communicating with the server are also feasible.
在一個實施例中，可以將光標籤作為錨點，來確定設備 的位置和姿態，從而實現虛擬對象到現實場景中的疊加。虛擬對象例如可以是圖標、圖片、文字、表情符號、虛擬的三維物體、三維場景模型、一段動畫、一段視頻、一個可跳轉的網頁鏈接等等。圖3示出了根據一個實施例的基於光標籤在現實場景中疊加虛擬對象的方法，該方法包括如下步驟： In one embodiment, the light tag can be used as an anchor to determine the device The position and attitude of the virtual object can be superimposed into the real scene. The virtual object may be, for example, an icon, a picture, a text, an emoticon, a virtual three-dimensional object, a three-dimensional scene model, a piece of animation, a piece of video, a link to a web page that can be jumped, and so on. FIG. 3 shows a method for superimposing virtual objects in a real scene based on light tags according to one embodiment, and the method includes the following steps:
步驟301：設備獲得光標籤的標識訊號。 Step 301: The device obtains the identification signal of the optical label.
例如，設備可以透過採集並分析光標籤的圖像，來識別出光標籤傳遞的標識訊號。該標識訊號可以與一個或多個虛擬對象相關聯。 For example, the device can recognize the identification signal transmitted by the optical tag by collecting and analyzing the image of the optical tag. The identification signal may be associated with one or more virtual objects.
步驟302：設備使用光標籤的標識訊號進行查詢，以獲得待疊加的虛擬對象以及所述虛擬對象的疊加訊號，該疊加訊號包括疊加位置訊號。 Step 302 : The device uses the identification signal of the optical tag to query to obtain the virtual object to be superimposed and the superimposed signal of the virtual object, where the superimposed signal includes the superimposed position signal.
設備在識別出光標籤的標識訊號之後，可以使用該標識訊號向伺服器發出查詢請求。在伺服器處可以預先存儲與該光標籤相關的訊號，例如光標籤的標識訊號、光標籤的位置訊號、與該光標籤(或光標籤的標識訊號)相關聯的一個或多個虛擬對象的描述訊號、每個虛擬對象的疊加位置訊號等等。虛擬對象的描述訊號是用於描述該虛擬對象的相關訊號，例如可以包括虛擬對象中包含的圖片、文字、圖標、虛擬對象的標識訊號、形狀訊號、顏色訊號、尺寸訊號、等等。基於該描述訊號，設備可以呈現出相應的虛擬對象。虛擬對象的疊加位置訊號可以是相對於光標籤的位置訊號(例如，虛擬對象的疊加位置相對於光標籤的距離訊號和相對於光標籤的方向訊號)，其用於指示虛擬對象的疊加位置。設備透過向伺服器發出查詢請求，可以獲得要在設備當前呈現的現實場景中疊加的虛擬對象的描述訊號以及該虛擬對象的疊加訊號。在一個實施例中，虛擬對象的疊加訊號還可以包括虛擬對象的疊加姿態訊號，該疊加姿態訊號可以是虛擬對象相對於光標籤的姿態訊號，也可以是其在現實世界的座標系中的姿態訊號。 After identifying the identification signal of the optical tag, the device can use the identification signal to send a query request to the server. Signals related to the optical tag, such as the identification signal of the optical tag, the position signal of the optical tag, the information of one or more virtual objects associated with the optical tag (or the identification signal of the optical tag), can be pre-stored at the server. Descriptive signals, superimposed position signals for each virtual object, etc. The description signal of the virtual object is a related signal used to describe the virtual object, for example, it may include pictures, text, icons, identification signals of the virtual object, shape signals, color signals, size signals, etc. contained in the virtual object. Based on the description signal, the device can present the corresponding virtual object. The superimposed position signal of the virtual object may be a position signal relative to the optical label (eg, a distance signal of the superimposed position of the virtual object relative to the optical label and a direction signal relative to the optical label), which is used to indicate the superimposed position of the virtual object. By sending a query request to the server, the device can obtain the description signal of the virtual object to be superimposed in the real scene currently presented by the device and the superimposed signal of the virtual object. In one embodiment, the superimposed signal of the virtual object may further include a superimposed gesture signal of the virtual object, and the superimposed gesture signal may be the gesture signal of the virtual object relative to the optical label, or the gesture of the virtual object in the coordinate system of the real world. signal.
需要說明的是，為了確定虛擬對象的疊加姿態，並非必須使用虛擬對象的疊加姿態訊號，而是也可以使用虛擬對象的疊加位置 訊號來確定虛擬對象的疊加姿態。例如，對於一個虛擬對象，可以確定其上的若干個點的疊加位置訊號，這些不同的點的疊加位置訊號能夠用於確定該虛擬對象相對於光標籤的姿態或者在現實世界座標系中的姿態。 It should be noted that, in order to determine the superimposed posture of the virtual object, it is not necessary to use the superimposed posture signal of the virtual object, but the superimposed position of the virtual object can also be used. signal to determine the superimposed pose of the virtual object. For example, for a virtual object, the superimposed position signals of several points on it can be determined, and the superimposed position signals of these different points can be used to determine the pose of the virtual object relative to the light tag or the pose in the real world coordinate system .
步驟303：設備確定其相對於光標籤的位置訊號。 Step 303: The device determines its position signal relative to the optical label.
設備可以採用多種方式來確定其相對於光標籤的位置訊號，該相對位置訊號可以包括設備相對於光標籤的距離訊號和方向訊號。通常情況下，設備相對於光標籤的位置訊號實際上是設備的圖像採集器件相對於光標籤的位置訊號。在一個實施例中，設備可以透過採集包括光標籤的圖像並分析該圖像來確定其相對於光標籤的位置訊號。例如，設備可以透過圖像中的光標籤成像大小以及可選的其他訊號(例如，光標籤的實際物理尺寸訊號、設備的攝像頭的焦距)來確定光標籤與識別設備的相對距離(成像越大，距離越近；成像越小，距離越遠)。設備可以使用光標籤的標識訊號從伺服器獲得光標籤的實際物理尺寸訊號，或者光標籤可以具有統一的物理尺寸並在設備上存儲該物理尺寸。設備可以透過包括光標籤的圖像中的光標籤成像的透視畸變以及可選的其他訊號(例如，光標籤的成像位置)，來確定設備相對於光標籤的方向訊號。設備可以使用光標籤的標識訊號從伺服器獲得光標籤的物理形狀訊號，或者光標籤可以具有統一的物理形狀並在設備上存儲該物理形狀。在又一個實施例中，設備也可以透過其上安裝的深度攝像頭或雙目攝像頭等來直接獲得光標籤與識別設備的相對距離。設備也可以採用現有的任何其他定位方法來確定其相對於光標籤的位置訊號。 The device may determine its position signal relative to the optical tag in a variety of ways, and the relative position signal may include a distance signal and a direction signal of the device relative to the optical tag. Usually, the position signal of the device relative to the optical label is actually the position signal of the image acquisition device of the device relative to the optical label. In one embodiment, the device may determine its position signal relative to the optical tag by acquiring an image including the optical tag and analyzing the image. For example, the device can determine the relative distance of the optical tag from the identification device by the size of the optical tag in the image and optionally other signals (eg, the actual physical size of the optical tag, the focal length of the device's camera) , the closer the distance; the smaller the image, the farther). The device may obtain the actual physical size signal of the optical tag from the server using the identification signal of the optical tag, or the optical tag may have a uniform physical size and store the physical size on the device. The device can determine the orientation signal of the device relative to the optical label by including perspective distortion of the optical label imaging in the image of the optical label and optionally other signals (eg, the imaged position of the optical label). The device may obtain the optical tag's physical shape signal from the server using the optical tag's identification signal, or the optical tag may have a uniform physical shape and store the physical shape on the device. In yet another embodiment, the device can also directly obtain the relative distance between the optical tag and the identification device through a depth camera or a binocular camera installed on the device. The device may also use any other positioning method available to determine its position signal relative to the optical tag.
在又一些實施例中，設備不僅可以確定其相對於光標籤的位置訊號，還可以基於所確定的設備相對於光標籤的位置訊號以及光標籤本身的位置訊號來獲得該設備的當前位置訊號，從而便於對用戶進行精確定位或導航。由於光標籤本身具有精確的位置訊號，基於光標籤獲取的設備位置比傳統GPS定位更為精確。需要說明的是，進行定位或導航的對象可以不是用戶，而可以是能夠自主移動的機器，例如，無人機、無人駕駛汽車、機器人等。該能夠自主移動的機器上可以安裝有圖 像採集設備，並可以以與手機類似的方式與光標籤進行交互，從而獲得其自身的位置訊號。 In still other embodiments, the device can not only determine its position signal relative to the optical tag, but also obtain the current position signal of the device based on the determined position signal relative to the optical tag and the position signal of the optical tag itself, This facilitates precise positioning or navigation of the user. Because the optical tag itself has a precise position signal, the device position obtained based on the optical tag is more accurate than traditional GPS positioning. It should be noted that the object for positioning or navigation may not be a user, but may be a machine that can move autonomously, for example, a drone, an unmanned vehicle, a robot, and the like. The machine that can move autonomously can be installed with a picture Like a capture device, and can interact with the optical tag in a similar way to a cell phone to obtain its own location signal.
在步驟304：設備確定其相對於光標籤的姿態訊號。 At step 304: the device determines its gesture signal relative to the optical tag.
通常情況下，設備的姿態訊號實際上是設備的圖像採集器件的姿態訊號。設備可以根據光標籤的成像來確定其相對於光標籤的姿態訊號，當光標籤的成像位置或成像區域位於設備成像視野的中心時，可以認為設備當前正對著光標籤。在確定設備的姿態時可以進一步考慮光標籤的成像的方向。隨著設備的姿態發生改變，光標籤在設備上的成像位置和/或成像方向會發生相應的改變，因此，可以根據光標籤在設備上的成像來獲得設備相對於光標籤的姿態訊號。 Usually, the attitude signal of the equipment is actually the attitude signal of the image acquisition device of the equipment. The device can determine its attitude signal relative to the optical tag according to the imaging of the optical tag. When the imaging position or imaging area of the optical tag is located in the center of the imaging field of view of the device, it can be considered that the device is currently facing the optical tag. The direction of imaging of the optical tag can be further considered when determining the pose of the device. As the posture of the device changes, the imaging position and/or imaging direction of the optical tag on the device will change accordingly. Therefore, the posture signal of the device relative to the optical tag can be obtained according to the imaging of the optical tag on the device.
在又一些實施例中，也可以以如下方式來確定設備相對於光標籤的位置和姿態訊號(也可以統稱為位姿訊號)。具體地，可以根據光標籤建立一個座標系，該座標系可以被稱為光標籤座標系。可以將光標籤上的一些點確定為在光標籤座標系中的一些空間點，並且可以根據光標籤的物理尺寸訊號和/或物理形狀訊號來確定這些空間點在光標籤座標系中的座標。光標籤上的一些點例如可以是光標籤的外殼的角、光標籤中的光源的端部、光標籤中的一些標識點、等等。根據光標籤的物體結構特徵或幾何結構特徵，可以在設備相機拍攝的圖像中找到與這些空間點分別對應的像點，並確定各個像點在圖像中的位置。根據各個空間點在光標籤座標系中的座標以及對應的各個像點在圖像中的位置，結合設備相機的內參訊號，可以計算得到拍攝該圖像時設備相機在光標籤座標系中的位姿訊號(R，t)，其中R為旋轉矩陣，其可以用於表示設備相機在光標籤座標系中的姿態訊號，t為位移向量，其可以用於表示設備相機在光標籤座標系中的位置訊號。計算R、t的方法在現有技術中是已知的，例如，可以利用3D-2D的PnP(Perspective-n-Point)方法來計算R、t，為了不模糊本發明，在此不再詳細介紹。 In still other embodiments, the position and attitude signal (which may also be collectively referred to as the pose signal) of the device relative to the optical tag can also be determined in the following manner. Specifically, a coordinate system can be established according to the optical label, and the coordinate system can be called an optical label coordinate system. Some points on the optical label can be determined as some spatial points in the optical label coordinate system, and the coordinates of these spatial points in the optical label coordinate system can be determined according to the physical size signal and/or the physical shape signal of the optical label. Some points on the light label may be, for example, the corners of the housing of the light label, the end of the light source in the light label, some identification points in the light label, and so on. According to the object structure feature or geometric structure feature of the optical tag, the image points corresponding to these spatial points can be found in the image captured by the device camera, and the position of each image point in the image can be determined. According to the coordinates of each spatial point in the optical label coordinate system and the position of each corresponding image point in the image, combined with the internal reference signal of the device camera, the position of the device camera in the optical label coordinate system can be calculated when the image is captured. Attitude signal (R, t), where R is the rotation matrix, which can be used to represent the attitude signal of the device camera in the optical label coordinate system, and t is the displacement vector, which can be used to represent the device camera in the optical label coordinate system. location signal. The method for calculating R and t is known in the prior art. For example, the 3D-2D PnP (Perspective-n-Point) method can be used to calculate R and t. In order not to obscure the present invention, it will not be described in detail here. .
實際上，利用旋轉矩陣R和位移向量t還可以描述如何將某個點的座標在光標籤座標系和設備相機座標系之間轉換。例如，透過旋轉矩陣R和位移向量t，可以將某個點在光標籤座標系中的座標轉 換為在設備相機座標系中的座標，並可以進一步轉換為圖像中的像點的位置。如此，對於具有多個特徵點(虛擬對象的輪廓上的多個點)的虛擬對象，可以在該虛擬對象的疊加訊號中包括該多個特徵點在光標籤座標系中的座標(也即，相對於光標籤的位置訊號)，基於多個特徵點在光標籤座標系中的座標，可以確定這些特徵點在設備相機座標系中的座標，從而可以確定這些特徵點在設備上的各自成像位置。虛擬對象的多個特徵點的各自成像位置一旦確定，就可以相應地確定出該虛擬對象整體的成像的位置、大小、或姿態等。 In fact, using the rotation matrix R and the displacement vector t can also describe how to convert the coordinates of a certain point between the optical label coordinate system and the device camera coordinate system. For example, through the rotation matrix R and the displacement vector t, the coordinates of a point in the optical label coordinate system can be transformed Converted to coordinates in the device's camera coordinate system, and can be further converted to the position of an image point in the image. In this way, for a virtual object with multiple feature points (multiple points on the outline of the virtual object), the superimposed signal of the virtual object may include the coordinates of the multiple feature points in the optical label coordinate system (that is, Relative to the position signal of the optical label), based on the coordinates of multiple feature points in the optical label coordinate system, the coordinates of these feature points in the device camera coordinate system can be determined, so that the respective imaging positions of these feature points on the device can be determined . Once the respective imaging positions of the multiple feature points of the virtual object are determined, the imaging position, size, or posture of the virtual object as a whole can be determined accordingly.
繼續參考圖3，在步驟305：基於虛擬對象的疊加訊號、設備相對於光標籤的位置訊號和姿態訊號，在設備的顯示媒介上呈現所述虛擬對象，從而在現實場景中疊加所述虛擬對象。 Continuing to refer to FIG. 3 , in step 305 : based on the superimposed signal of the virtual object, the position signal and the gesture signal of the device relative to the optical label, the virtual object is presented on the display medium of the device, thereby superimposing the virtual object in the real scene .
虛擬對象的疊加位置訊號體現了待疊加的虛擬對象相對於光標籤的位置訊號。在透過上述步驟獲得了虛擬對象的疊加位置訊號和設備相對於光標籤的位置訊號之後，實際上可以創建出以光標籤為原點的三維空間座標系，其中，設備和待疊加的虛擬對象均具有在該座標系中的準確的空間座標。在一個實施例中，也可以基於虛擬對象的疊加位置訊號和設備相對於光標籤的位置訊號來確定待疊加的虛擬對象相對於設備的位置訊號。在上述基礎上，可以基於設備的姿態訊號在現實場景中疊加該虛擬對象。例如，可以基於設備和待疊加的虛擬對象的相對距離來確定待疊加的虛擬對象的成像大小，可以基於設備和待疊加的虛擬對象的相對方向和設備的姿態訊號來確定待疊加的虛擬對象在設備上的成像位置。基於該成像位置和成像大小，可以在現實場景中實現虛擬對象的準確疊加。在一個實施例中，待疊加的虛擬對象可以具有默認的成像大小，在這種情況下，可以僅確定待疊加的虛擬對象在設備上的成像位置，而不確定其成像大小。在疊加訊號包括虛擬對象的疊加姿態訊號的情況下，可以進一步確定所疊加的虛擬對象的姿態。在一個實施例中，可以根據上文所計算的設備(更準確地說，該設備的相機)相對於光標籤的位姿訊號(R，t)來確定待疊加的虛擬對象在設備上的成像的位置、大小及姿態等。在一種情況下，如果確定待疊加的虛擬對象當前 不在設備的視野中(例如，虛擬對象的成像位置在顯示螢幕之外)，則不顯示虛擬對象。 The superimposed position signal of the virtual object reflects the position signal of the virtual object to be superimposed relative to the optical label. After obtaining the superimposed position signal of the virtual object and the position signal of the device relative to the optical label through the above steps, a three-dimensional space coordinate system with the optical label as the origin can actually be created, in which the device and the virtual object to be superimposed are both have exact spatial coordinates in this coordinate system. In one embodiment, the position signal of the virtual object to be superimposed relative to the device may also be determined based on the superimposed position signal of the virtual object and the position signal of the device relative to the optical label. On the above basis, the virtual object can be superimposed in the real scene based on the gesture signal of the device. For example, the imaging size of the virtual object to be superimposed can be determined based on the relative distance between the device and the virtual object to be superimposed. Imaging location on the device. Based on the imaging position and imaging size, accurate superposition of virtual objects in a real scene can be achieved. In one embodiment, the virtual object to be superimposed may have a default imaging size. In this case, only the imaging position of the virtual object to be superimposed on the device may be determined, but the imaging size of the virtual object may be determined. In the case where the superimposed signal includes the superimposed gesture signal of the virtual object, the gesture of the superimposed virtual object can be further determined. In one embodiment, the imaging of the virtual object to be superimposed on the device can be determined according to the pose signal (R, t) of the device (more precisely, the device's camera) relative to the optical tag calculated above position, size, and attitude. In one case, if it is determined that the virtual object to be superimposed is currently Out of the field of view of the device (eg, where the virtual object is imaged outside the display screen), the virtual object is not displayed.
設備可以使用各種可行的方式來呈現現實場景。例如，設備可以透過攝像頭採集現實世界的訊號並使用上述訊號在顯示螢幕上再現出現實場景，虛擬對象的圖像可以被疊加在該顯示螢幕上。設備(例如智能眼鏡)也可以不透過顯示螢幕來再現現實場景，而是可以簡單地透過稜鏡、透鏡、反射鏡、透明物體(例如玻璃)等來再現現實場景，虛擬對象的圖像可以被光學地疊加到該現實場景中。上述顯示螢幕、稜鏡、透鏡、反射鏡、透明物體等可以統稱為設備的顯示媒介，虛擬對象可以被呈現在該顯示媒介上。例如，在一種光學透視式擴增實境設備中，用戶透過特定的透鏡觀察到現實場景，同時該透鏡可以將虛擬對象的成像反射到用戶的眼中。在一個實施例中，設備的用戶可以直接觀察到現實場景或其部分，該現實場景或其部分在被用戶的眼睛觀察到之前不需要經過任何媒介進行再現，並且虛擬對象可以被光學地疊加到該現實場景中。因此，現實場景或其中的部分在被用戶的眼睛觀察到之前並不一定需要透過設備來呈現或再現。 Devices can use a variety of feasible ways to render real-world scenarios. For example, a device can capture real-world signals through a camera and use the signals to reproduce a real-world scene on a display screen on which images of virtual objects can be superimposed. Devices (such as smart glasses) can also reproduce the real scene not through the display screen, but simply through the lens, lens, mirror, transparent object (such as glass), etc., the image of the virtual object can be reproduced. optically superimposed onto this real-world scene. The above-mentioned display screen, lens, lens, mirror, transparent object, etc. may be collectively referred to as a display medium of the device, and virtual objects may be presented on the display medium. For example, in an optical see-through augmented reality device, the user observes the real scene through a specific lens, which at the same time reflects the image of the virtual object into the user's eyes. In one embodiment, the user of the device can directly observe the real scene or parts thereof, which need not be rendered through any medium before being observed by the user's eyes, and the virtual objects can be optically superimposed onto the in the real scene. Thus, the real scene or parts thereof do not necessarily need to be presented or reproduced through the device before being observed by the user's eyes.
在疊加了虛擬對象之後，設備可能會發生平移和/或旋轉，在這種情況下，可以例如使用設備內置的加速度傳感器、陀螺儀、攝像頭等透過本領域已知的方法(例如，慣性導航、視覺里程計、SLAM、VSLAM、SFM等)來測量或跟蹤其位置變化和/或姿態變化，從而對虛擬對象的顯示進行調整，例如，改變其成像位置、成像大小、觀察角度、虛擬對象進入設備視野、虛擬對象離開設備視野等等。這在本領域中是已知的，不再贅述。在一些實施例中，設備還可以重新(例如，當光標籤離開設備視野後重新進入設備視野時，或者在光標籤保持在設備視野中的情況下每隔一定時間)確定其相對於光標籤的位置訊號以及其相對於光標籤的姿態訊號，並基於虛擬對象的疊加位置訊號、設備相對於光標籤的位置訊號、設備相對於光標籤的姿態訊號，重新確定虛擬對象的成像位置和/或成像大小，從而校正所述虛擬對象在現實場景中的疊加。 After the virtual object is superimposed, the device may be translated and/or rotated, in which case the device can be translated and/or rotated through methods known in the art (eg, inertial navigation, gyroscope, camera, etc.) Visual odometry, SLAM, VSLAM, SFM, etc.) to measure or track its position change and/or attitude change, so as to adjust the display of virtual objects, such as changing its imaging position, imaging size, viewing angle, virtual objects entering the device Field of view, virtual objects leave the device field of view, etc. This is known in the art and will not be repeated here. In some embodiments, the device may also re-determine (eg, when the optical tag leaves the device's field of view and re-enters the device's field of view, or at regular intervals if the optical tag remains in the device's field of view) its relative The position signal and its attitude signal relative to the optical tag, and based on the superimposed position signal of the virtual object, the position signal of the device relative to the optical tag, and the attitude signal of the device relative to the optical tag, re-determine the imaging position and/or imaging of the virtual object size, so as to correct the superposition of the virtual object in the real scene.
在上文中，基於虛擬對象相對於光標籤的位置訊號以及設備相對於光標籤的位置訊號和姿態訊號，在設備的顯示媒介所呈現的現實場景中實現了虛擬對象的疊加，但可以理解，這並非必須的，也可以使用其他座標系下位置訊號或姿態訊號來實現虛擬對象的疊加。 In the above, based on the position signal of the virtual object relative to the optical tag and the position signal and attitude signal of the device relative to the optical tag, the superposition of virtual objects is realized in the real scene presented by the display medium of the device, but it can be understood that this It is not necessary, and position signals or attitude signals in other coordinate systems can also be used to realize the superposition of virtual objects.
在本發明的又一個實施例中，提供了一種基於光標籤的導航方法，其流程示意如圖4所示。該方法可以由設備執行，主要包括：步驟S401，根據設備所採集的包含光通訊裝置的圖像來識別該光通訊裝置傳遞的標識訊號，並確定該設備相對於該光通訊裝置的位置訊號和姿態訊號；步驟S402，利用所述標識訊號獲取預設的該光通訊裝置的位置訊號；步驟S403，基於所獲取的光通訊裝置的位置訊號以及該設備相對於該光通訊裝置的位置訊號和姿態訊號，確定該設備當前的位置訊號和姿態訊號；步驟S404，獲得要疊加的一個或多個虛擬導航指示的疊加位置訊號，其中，該疊加位置訊號是基於目的地位置訊號與該設備當前的位置訊號而確定的；步驟S405，基於所述設備當前的位置訊號和姿態訊號以及所述一個或多個虛擬導航指示的疊加位置訊號，在所述設備的顯示媒介所呈現的現實場景中疊加一個或多個虛擬導航指示。下文詳細描述該方法中的各個步驟。 In yet another embodiment of the present invention, a navigation method based on an optical label is provided, the schematic flow of which is shown in FIG. 4 . The method can be performed by a device, and mainly includes: step S401, identifying the identification signal transmitted by the optical communication device according to the image including the optical communication device collected by the device, and determining the position signal and the position signal of the device relative to the optical communication device. attitude signal; step S402, use the identification signal to obtain the preset position signal of the optical communication device; step S403, based on the obtained position signal of the optical communication device and the position signal and attitude of the equipment relative to the optical communication device signal, determine the current position signal and attitude signal of the device; step S404, obtain the superimposed position signal of one or more virtual navigation instructions to be superimposed, wherein the superimposed position signal is based on the destination position signal and the current position of the device In step S405, based on the current position signal and attitude signal of the device and the superimposed position signal of the one or more virtual navigation instructions, superimpose one or more in the real scene presented by the display medium of the device. Multiple virtual navigation instructions. The individual steps in the method are described in detail below.
在步驟S401，帶有圖像採集部件的設備或者攜帶該設備的人在行進中可以使用設備對視野範圍內某個或某些光標籤進行圖像採集。如上文結合圖1-3所描述的，在經由設備採集到包含光標籤的圖像之後，根據採集的圖像來識別其中光標籤的標識訊號；並且還可以基於所採集的圖像確定該設備相對於該光標籤的位置訊號和姿態訊號。 In step S401, a device with an image capturing component or a person carrying the device can use the device to capture images of one or some optical tags within the field of view while traveling. As described above in connection with Figures 1-3, after an image containing an optical tag is captured via the device, the identification signal of the optical tag therein is identified from the captured image; and the device may also be determined based on the captured image The position signal and attitude signal relative to the optical label.
在獲得光標籤的標識訊號之後，在步驟S402，如上文介紹的，可以基於光標籤的標識訊號從伺服器獲取該光標籤的位置訊號。在一個實施例中個，還可以獲取該光標籤的姿態訊號。應理解，光標籤的標識訊號是為了指示特定的光標籤，當要進行導航的環境中佈置兩個或更多個光標籤時，需要識別光標籤的標識訊號；而如果在特定場館或特定環境中只佈置有一個光標籤時，則可以不需要識別光標籤的標識訊號，設備直接訪問預設的伺服器獲取與該唯一光標籤的相關訊號即可。 After the identification signal of the optical tag is obtained, in step S402, as described above, the position signal of the optical tag can be obtained from the server based on the identification signal of the optical tag. In one embodiment, the gesture signal of the optical tag can also be acquired. It should be understood that the identification signal of the optical tag is to indicate a specific optical tag. When two or more optical tags are arranged in the environment to be navigated, the identification signal of the optical tag needs to be identified; and if in a specific venue or a specific environment When only one optical label is arranged in the device, the identification signal of the optical label may not need to be identified, and the device can directly access the preset server to obtain the relevant signal of the unique optical label.
接著，在步驟S403，基於所獲取的光標籤的位置訊號以及設備相對於該光標籤的位置訊號和姿態訊號，確定該設備當前的位置訊號和姿態訊號。這裡，設備的當前位置訊號和姿態訊號可以是在用於進行導航的座標系中的位置和姿態。例如，如果該用於進行導航的座標系是上文提到的光標籤座標系，那麼設備當前的位置訊號和姿態訊號就是該設備相對於光標籤的位置訊號和姿態訊號。如果用於進行導航的座標系為世界座標系或者特定場館的座標系，則如上文提到的，可以利用預先設定的實際的光標籤的位置訊號結合設備相對於該光標籤的位置訊號和姿態訊號來計算得到該設備在該用於進行導航的座標系中的位置訊號和姿態訊號來作為該設備當前的位置訊號和姿態訊號。在一個實施例中，可以基於所獲取的光標籤的位置訊號和姿態訊號以及設備相對於該光標籤的位置訊號和姿態訊號，確定該設備當前的位置訊號和姿態訊號。 Next, in step S403, the current position signal and attitude signal of the device are determined based on the obtained position signal of the optical tag and the position signal and attitude signal of the device relative to the optical tag. Here, the current position signal and attitude signal of the device may be the position and attitude in the coordinate system used for navigation. For example, if the coordinate system used for navigation is the above-mentioned optical tag coordinate system, the current position signal and attitude signal of the device are the position signal and attitude signal of the device relative to the optical tag. If the coordinate system used for navigation is the world coordinate system or the coordinate system of a specific venue, as mentioned above, the actual position signal of the optical tag can be used to combine the position signal and attitude of the device relative to the optical tag. The position signal and the attitude signal of the device in the coordinate system used for navigation are obtained by calculating the signal to be used as the current position signal and the attitude signal of the device. In one embodiment, the current position signal and attitude signal of the device may be determined based on the acquired position signal and attitude signal of the optical tag and the position signal and attitude signal of the device relative to the optical tag.
在步驟S404，獲得要疊加的一個或多個虛擬導航指示的疊加位置訊號，其中，該疊加位置訊號是基於目的地位置訊號與該設備當前的位置訊號而確定的。 In step S404, the superimposed position signal of one or more virtual navigation instructions to be superimposed is obtained, wherein the superimposed position signal is determined based on the destination position signal and the current position signal of the device.
設備可以透過多種可行方式來獲取目的地位置訊號。例如，目的地位置訊號可以是直接根據用戶的輸入或選擇的目的地址來設置的。在一個實施例中，可以在設備的顯示媒介上呈現目的地列表，供使用該設備的用戶進行選擇，或者呈現輸入框，供用戶輸入與目的地有關的訊號。在又一個實施例中，可以在設備的顯示媒介上呈現以更友好方式指示附近可能的目的地的虛擬對象來供用戶選擇，例如以虛擬路牌、體現目的地類型的圖像或圖標(例如，加油站、飯店、書店等)等，使得用戶點擊相關虛擬對象可以選擇所期望的目的地。 The device can obtain the destination location signal in a number of possible ways. For example, the destination location signal may be set directly according to the user's input or selected destination address. In one embodiment, a list of destinations may be presented on the display medium of the device for selection by a user using the device, or an input box may be presented for the user to enter signals related to the destination. In yet another embodiment, virtual objects indicating possible nearby destinations in a more friendly manner may be presented on the display medium of the device for selection by the user, such as virtual street signs, images or icons representing the type of destination (eg, Gas stations, restaurants, bookstores, etc.), so that users can click on the relevant virtual objects to select the desired destination.
在又一些實施例中，目的地位置訊號也可以是至少部分地基於與目的地有關的訊號來確定的。例如，用戶可能不瞭解具體的目的地址，而是輸入或選擇與目的地有關的訊號，例如輸入或選擇的“航班號”、“1號登機口”、飯店名稱等。設備在獲得與目的地有關的訊號後，可以查詢或檢索預先建立的用於導航的數據庫、場景地圖或場景 訊號庫等來確定相應的目的地位置訊號。用於導航的數據庫、場景地圖或場景訊號庫可以存儲在提供導航服務的伺服器(導航伺服器)上，也可以存儲在設備上。當透過伺服器確定目的位置訊號時，該伺服器可以將所確定的目的地位置訊號發送給設備。與目的地有關的訊號可以包括與目的地名稱、目的地類型、目的地功能等等相關的訊號。在又一個實施例中，可以將與目的地類型或功能有關的訊號(例如，用戶輸入或選擇的“洗手間”)與設備當前的位置訊號相結合來確定目的地位置訊號，例如，距離該設備最近的洗手間的位置訊號。在又一個實施例中，可以使用用戶提供的與目的地類型或功能有關的訊號(例如，用戶輸入或選擇的“停車位”)並結合設備當前的位置訊號以及目的地的當前狀態訊號(例如，各個停車位空閒狀況)來確定目的地位置訊號，例如與設備最接近的空閒停車位的位置訊號。 In yet other embodiments, the destination location signal may also be determined based at least in part on the destination-related signal. For example, the user may not know the specific destination address, but input or select a signal related to the destination, such as the input or selection of "flight number", "gate 1", hotel name and so on. After the device obtains a signal related to the destination, it can query or retrieve a pre-established database, scene map or scene for navigation signal library etc. to determine the corresponding destination location signal. The database, scene map or scene signal library used for navigation can be stored on the server that provides the navigation service (navigation server), or it can be stored on the device. When the destination location signal is determined by the server, the server can send the determined destination location signal to the device. The destination-related signals may include signals related to destination name, destination type, destination function, and the like. In yet another embodiment, a signal related to the destination type or function (eg, user input or selection of "toilet") may be combined with the device's current location signal to determine the destination location signal, eg, distance from the device Location signal of the nearest restroom. In yet another embodiment, a user-provided signal related to the type or function of the destination (eg, a "parking space" entered or selected by the user) may be used in combination with the device's current location signal and the destination's current status signal (eg, , each parking space vacancy status) to determine the destination location signal, such as the location signal of the vacant parking space closest to the device.
在又一個實施例中，還可以使用與預先設置的導航目的相關的訊號來確定目的地位置訊號，例如可以透過點擊“一鍵找車”、“上班”、“回家”、“尋找附近的歷史足跡”等等來獲得目的地位置訊號。例如，用戶點擊“一鍵找車”時，可以結合在設備或者伺服器中預先存儲的與該用戶之前的停車位置相關的一些訊號來確定目的地位置訊號；這些訊號例如停車時用戶透過掃描光標籤而確定的位置訊號，或者用戶停車時所記錄的停車位號碼，或者用戶停車時拍攝的包含停車位訊號的照片。當用戶選擇的導航目的為“尋找附近的歷史足跡”時，可以將該設備的當前位置訊號與在設備或者伺服器中存儲的在該設備當前位置附近與該用戶曾經去過的目的地相關的歷史數據來確定目的地位置訊號，例如當用戶到達某個商業區時，可以給出該用戶在該地區最近一次去過的飯店、商店、咖啡店等等。 In yet another embodiment, a signal related to a preset navigation purpose can also be used to determine the destination location signal, for example, by clicking "find a car with one key", "work", "go home", "find nearby Historical footprints” etc. to obtain destination location signals. For example, when a user clicks "find a car with one click", the destination location signal can be determined by combining some signals pre-stored in the device or server related to the user's previous parking position; The location signal determined by the tag, or the parking space number recorded when the user parked, or the photo containing the parking space signal taken by the user when the user parked. When the navigation purpose selected by the user is "find nearby historical footprints", the current location signal of the device can be related to the destination that the user has been to near the current location of the device stored in the device or server. The historical data is used to determine the destination location signal. For example, when the user arrives in a certain commercial area, the last restaurant, store, coffee shop, etc. that the user has visited in this area can be given.
在確定目的地位置訊號之後，可以基於目的地位置訊號與該設備當前的位置訊號為設備確定行進路線。在一個實施例中，如果設備所處環境中佈置有光標籤網路，那麼在獲得了導航起始點(設備的當前位置)和目的點之後，可以基於光標籤網路中的光標籤的部署情況，為設備提供規劃的行進路線，該行進路線的沿途具有一個或多個光 標籤。例如，可以在使用起始點和目的點確定了若干條可行路線之後，基於每條路線上的光標籤部署情況，為設備提供一條或多條推薦的規劃行進路線。在其他條件相同的情況下，優選地推薦沿途部署了較多光標籤的行進路線，以便於在行進過程持續地透過沿途的光標籤為設備進行導航。在又一個實施例中，如果在設備所處環境中已經建立了場景地圖數據、場景模型或場景訊號庫等，可以結合與場景有關的訊號來為設備提供行進路線；例如參考場景中的道路訊號、建築物訊號、電梯訊號、樓梯訊號、門禁訊號等，可以確定哪些區域或者線路可以通行。在該實施例中確定行進路線的具體方式與現有導航方法類似，在此不再贅述。在又一個實施例中，可以在導航起點與目的點之間建立直線形式的行進路線，如果該行進路線穿過障礙物，可以進行人為避障，當設備繞開障礙物時，可以基於設備的新的位置重新確定設備的當前位置與目的位置之間的行進路線(下文中詳述)。 After the destination location signal is determined, a travel route can be determined for the device based on the destination location signal and the device's current location signal. In one embodiment, if an optical label network is arranged in the environment where the device is located, after obtaining the navigation start point (the current location of the device) and the destination point, the deployment of the optical label in the optical label network can be based on situation, providing the device with a planned route of travel with one or more lights along the way Label. For example, after several feasible routes are determined using the starting point and the destination point, one or more recommended planned travel routes may be provided for the device based on the deployment of optical labels on each route. Under other conditions being the same, it is preferable to recommend a travel route in which more optical tags are deployed along the way, so as to continuously navigate the device through the optical tags along the way during the traveling process. In yet another embodiment, if scene map data, scene model or scene signal library, etc. have been established in the environment where the device is located, a travel route can be provided for the device in combination with the signals related to the scene; for example, the road signals in the reference scene , building signal, elevator signal, staircase signal, access control signal, etc., can determine which areas or lines can pass. The specific manner of determining the travel route in this embodiment is similar to that of the existing navigation method, and details are not described herein again. In yet another embodiment, a travel route in the form of a straight line can be established between the navigation starting point and the destination point. If the travel route passes through an obstacle, manual obstacle avoidance can be performed. The new location reroutes the device between the current location and the destination location (detailed below).
在確定了目的地位置與該設備當前的位置之間的行進路線之後，可以沿該行進路線確定要疊加的一個或多個虛擬導航指示的疊加位置訊號。其中虛擬導航指示可以是上文結合圖3所介紹的虛擬對象，其可以採用便於指引用戶行進和識別目的地的任何形式，例如箭頭形式的圖標、採用與設備當前語言選項對應的語言顯示的方向指示或虛擬路牌、虛擬導航人物或動物、沿行進路線的兩側建築物訊號等等。如上文介紹的，虛擬導航指示的疊加位置訊號可以是虛擬導航指示相對於光標籤的位置訊號，但是可以理解，其也可以是在世界座標系或者特定場館的座標系下的位置訊號。可以沿行進路線每間隔一段距離設置一個位置點來疊加虛擬導航指示。 After the route of travel between the destination location and the current location of the device is determined, superimposed location signals of one or more virtual navigational indications to be superimposed may be determined along the route of travel. The virtual navigation indication can be the virtual object described above in conjunction with FIG. 3, which can take any form that is convenient for guiding the user to travel and identify the destination, such as an icon in the form of an arrow, a direction displayed in a language corresponding to the current language option of the device Directions or virtual street signs, virtual navigation figures or animals, building signals on both sides of the travel route, etc. As described above, the superimposed position signal of the virtual navigation indication may be the position signal of the virtual navigation indication relative to the optical label, but it can be understood that it may also be the position signal in the world coordinate system or the coordinate system of a specific venue. Position points can be placed at intervals along the travel route to superimpose virtual navigation instructions.
在一個實施例中，可以由設備自身來確定虛擬導航指示的疊加位置訊號，從而獲得該疊加位置訊號。在另一個實施例中，可以由導航伺服器確定虛擬導航指示的疊加位置訊號，並將其發送給設備。 In one embodiment, the superimposed position signal of the virtual navigation indication can be determined by the device itself, so as to obtain the superimposed position signal. In another embodiment, the superimposed position signal of the virtual navigation indication may be determined by the navigation server and sent to the device.
在步驟S405，基於上述一個或多個虛擬導航指示的疊加位置訊號以及設備當前的位置訊號和姿態訊號，可以在設備的顯示媒介所呈現的現實場景中疊加一個或多個虛擬導航指示。如圖5所示，當用 戶採用上述實施例中的導航方法進行車位導航時，可以在用戶手持的設備呈現的實時現實場景中疊加虛擬的方向箭頭來對用戶給出前方行進的方向和路線指引，便於用戶方便快速地到達目的地。 In step S405, based on the superimposed position signal of the one or more virtual navigation instructions and the current position signal and attitude signal of the device, one or more virtual navigation instructions can be superimposed on the real scene presented by the display medium of the device. As shown in Figure 5, when using When the user uses the navigation method in the above embodiment to navigate the parking space, the virtual direction arrow can be superimposed on the real-time reality scene presented by the device held by the user to give the user the direction and route guidance ahead, which is convenient for the user to arrive quickly and easily. destination.
在一些實施例中，該方法還可以包括在行進過程中持續跟蹤和獲取設備的當前位置訊號和姿態訊號，以及重新基於新獲取的設備的當前位置訊號和姿態訊號以及所述一個或多個虛擬導航指示的疊加位置訊號，在設備的顯示媒介所呈現的現實場景中疊加各個虛擬導航指示。其中，在行進過程中重新獲取的設備的當前位置訊號和姿態訊號可以是在步驟S403確定的位置訊號和姿態訊號的基礎上獲取的。例如，在行進過程中，設備通常有可能發生平移或旋轉，可以透過設備內置的各種傳感器來監控設備本身姿態的變化，並基於這些姿態變化對在步驟S403確定的設備姿態訊號進行調整，以獲取該設備當前的姿態訊號。同樣，可以透過設備內置的位置傳感器監控設備位置的變化，基於這些位置的變化對在步驟S403確定的設備位置訊號進行調整，以獲取該設備當前的位置訊號。在又一個實施例中，還可以預先建立導航環境的場景模型，然後在行進過程中，透過將設備視野中的現實場景與該場景模型進行比較來校準設備的當前位置訊號和姿態訊號。在重新確定了設備當前的位置訊號和姿態訊號之後，可以返回至步驟S404或者步驟S405繼續執行。 In some embodiments, the method may further include continuously tracking and acquiring the current position signal and attitude signal of the device during travel, and re-basing the newly acquired current position signal and attitude signal of the device and the one or more virtual The superimposed position signal of the navigation instruction superimposes each virtual navigation instruction in the real scene presented by the display medium of the device. Wherein, the current position signal and attitude signal of the device re-acquired during the traveling process may be obtained on the basis of the position signal and the attitude signal determined in step S403. For example, in the process of traveling, the device may usually translate or rotate, and various sensors built in the device can be used to monitor changes in the posture of the device itself, and adjust the device posture signal determined in step S403 based on these posture changes to obtain The current attitude signal of the device. Likewise, changes in the location of the device can be monitored through the built-in location sensor of the device, and the device location signal determined in step S403 can be adjusted based on the location changes to obtain the current location signal of the device. In yet another embodiment, a scene model of the navigation environment can also be established in advance, and then the current position signal and attitude signal of the device can be calibrated by comparing the real scene in the device field of view with the scene model during travel. After the current position signal and attitude signal of the device are re-determined, it is possible to return to step S404 or step S405 to continue the execution.
在一個優選的實施例中，在行進過程中，還可以透過掃描光標籤來校準或重新確定設備當前的位置訊號和姿態訊號，然後返回至步驟S404或者步驟S405繼續執行。所掃描的光標籤可以是與上次在步驟S401中掃描的光標籤相同的光標籤，也可以是其他的光標籤。設備在行進過程中掃描的光標籤不一定是原來規劃的行進路線沿途的光標籤，例如，用戶在行進過程可能已經偏離了規劃的行進路線。並且，設備在行進過程中不一定掃描規劃的行進路線沿途的所有光標籤，而是可以基於實際需要選擇性進行掃描，例如，在到達路口時掃描附近的某個光標籤。 In a preferred embodiment, during the traveling process, the current position signal and attitude signal of the device can also be calibrated or re-determined by scanning the optical label, and then return to step S404 or step S405 to continue execution. The scanned optical label may be the same optical label as the one scanned in step S401 last time, or may be other optical labels. The optical labels scanned by the device during travel are not necessarily the optical labels along the originally planned travel route. For example, the user may have deviated from the planned travel route during the travel process. Moreover, the device does not necessarily scan all the optical tags along the planned travel route during traveling, but can selectively scan based on actual needs, for example, scan a certain optical tag nearby when reaching an intersection.
本發明上述實施例中的導航方法相比於常見的GPS導航 能夠提供更高的精準度，尤其是在缺乏GPS訊號或GPS訊號不是很良好的情況下，例如在繁華的商業街區或商場中的導航。在該商業街區中，用戶可以在行走過程中透過商店門頭或建築物上安裝的光標籤來實現精確的導航，而GPS導航通常難以滿足這種情況下所需的精準度。並且，與現有的基於GPS的全景地圖導航相比，本發明實施例提供的導航方法實現了真正意義上的實景導航，可以在透過設備實時獲取的現實場景中及時疊加相應的虛擬導航指示來給出快速靈活的實景路線指引，不需要預先製作、傳輸和加載全景地圖模型，降低了對網路的傳輸的要求和對設備存儲和計算能力的要求。與之不同，全景地圖不僅製作成本和更新維護成本高，而且對於網路流量以及對於終端設備的存儲和計算能力有較高要求，難以有效進行快速實時的指引。 The navigation method in the above-mentioned embodiment of the present invention is compared with the common GPS navigation It can provide higher accuracy, especially in the case of lack of GPS signal or not very good GPS signal, such as navigation in busy commercial districts or shopping malls. In this commercial district, users can achieve precise navigation through optical tags installed on store fronts or buildings during walking, and GPS navigation is often difficult to meet the accuracy required in this case. Moreover, compared with the existing GPS-based panoramic map navigation, the navigation method provided by the embodiment of the present invention realizes the real scene navigation in the real sense, and can superimpose the corresponding virtual navigation instructions in the real scene acquired in real time through the device to give Fast and flexible real-time route guidance does not require pre-production, transmission and loading of panoramic map models, which reduces the requirements for network transmission and the requirements for device storage and computing power. In contrast, panoramic maps not only have high production costs and high update and maintenance costs, but also have high requirements for network traffic and the storage and computing power of terminal devices, making it difficult to effectively provide fast and real-time guidance.
本發明的一個實施例涉及一種基於光標籤的導航系統，其可以包括光標籤、光標籤伺服器和導航伺服器。光標籤伺服器用於從導航設備接收光標籤傳遞的標識訊號，並向導航設備提供光標籤的位置訊號。導航伺服器用於基於目的地位置訊號與導航設備當前的位置訊號確定要疊加的一個或多個虛擬導航指示的疊加位置訊號。本領域技術人員可以理解，光標籤伺服器和導航伺服器可以是物理上分離的兩個伺服器，但也可以集成在一起，也即，作為同一個物理伺服器的不同功能模塊。上述導航系統還可以包括導航設備，該導航設備可以用於執行圖4所示的方法。 One embodiment of the present invention relates to an optical tag-based navigation system, which may include an optical tag, an optical tag server, and a navigation server. The optical label server is used for receiving the identification signal transmitted by the optical label from the navigation device, and provides the position signal of the optical label to the navigation device. The navigation server is used for determining the superimposed position signal of one or more virtual navigation instructions to be superimposed based on the destination position signal and the current position signal of the navigation device. Those skilled in the art can understand that the optical label server and the navigation server may be two servers that are physically separated, but may also be integrated together, that is, as different functional modules of the same physical server. The above-mentioned navigation system may further include a navigation device, which may be used to perform the method shown in FIG. 4 .
上文結合虛擬導航指示描述了本發明的一些實施例，但是需要說明的是，在現實場景中疊加虛擬導航指示並不是必須的，在本發明的一些實施例中，在獲得了設備的當前位置訊號和姿態訊號(參考上文描述的步驟S403)之後，也可以基於目的地位置訊號以及設備的當前位置訊號和姿態訊號，透過其他各種可行的方式來為設備提供導航提示訊號，例如，可以在設備所顯示的導航地圖上提供方向指示或路線指示、可以透過語音來為設備用戶提供導航提示訊號、等等。由於本發明的方法能夠獲得設備的精確位置訊號，並且能夠另外獲得設備的姿態訊號，因此，相比於現有技術中的常規導航方式(例如GPS導航)，可以 為設備提供更為精準的導航。 Some embodiments of the present invention are described above in conjunction with the virtual navigation indication, but it should be noted that it is not necessary to superimpose the virtual navigation indication in the real scene. In some embodiments of the present invention, after the current position of the device is obtained After the signal and the attitude signal (refer to the step S403 described above), based on the destination position signal and the current position and attitude The navigation map displayed by the device provides direction instructions or route instructions, and can provide navigation prompt signals for the device user through voice, and so on. Since the method of the present invention can obtain the precise position signal of the device, and can additionally obtain the attitude signal of the device, therefore, compared with the conventional navigation methods (such as GPS navigation) in the prior art, it can be Provide more precise navigation for the device.
本文中提到的設備可以是用戶攜帶或控制的設備(例如，手機、平板電腦、智能眼鏡、AR眼鏡、智能頭盔、智能手錶、等等)，但是可以理解，該設備也可以是能夠自主移動的機器，例如，無人機、無人駕駛汽車、機器人等。設備上可以安裝有圖像採集器件(例如攝像頭)和顯示媒介(例如顯示螢幕)。 The devices mentioned herein may be devices that are carried or controlled by the user (eg, cell phones, tablets, smart glasses, AR glasses, smart helmets, smart watches, etc.), but it is understood that the device may also be capable of autonomous movement machines such as drones, driverless cars, robots, etc. An image acquisition device (eg, a camera) and a display medium (eg, a display screen) may be installed on the device.
在本發明的又一個實施例中，可以以計算機程式的形式來實現本發明。計算機程式可以存儲於各種存儲介質(例如，硬碟、光碟、快閃記憶體等)中，當該計算機程式被處理器執行時，能夠用於實現本發明的方法。 In yet another embodiment of the present invention, the present invention may be implemented in the form of a computer program. A computer program can be stored in various storage media (eg, hard disk, optical disk, flash memory, etc.), and when executed by a processor, can be used to implement the method of the present invention.
在本發明的又一個實施例中，可以以電子設備的形式來實現本發明。該電子設備包括處理器和存儲器，在存儲器中存儲有計算機程式，當該計算機程式被處理器執行時，能夠用於實現本發明的方法。 In yet another embodiment of the present invention, the present invention may be implemented in the form of an electronic device. The electronic device includes a processor and a memory, in which is stored a computer program that, when executed by the processor, can be used to implement the method of the present invention.
本文中針對“各個實施例”、“一些實施例”、“一個實施例”、或“實施例”等的參考指代的是結合所述實施例所描述的特定特徵、結構、或性質包括在至少一個實施例中。因此，短語“在各個實施例中”、“在一些實施例中”、“在一個實施例中”、或“在實施例中”等在整個本文中各處的出現並非必須指代相同的實施例。此外，特定特徵、結構、或性質可以在一個或多個實施例中以任何合適方式組合。因此，結合一個實施例中所示出或描述的特定特徵、結構或性質可以整體地或部分地與一個或多個其他實施例的特徵、結構、或性質無限制地組合，只要該組合不是非邏輯性的或不能工作。本文中出現的類似於“根據A”、“基於A”、“透過A”或“使用A”的表述意指非排他性的，也即，“根據A”可以涵蓋“僅僅根據A”，也可以涵蓋“根據A和B”，除非特別聲明或者根據上下文明確可知其含義為“僅僅根據A”。在本申請中為了清楚說明，以一定的順序描述了一些示意性的操作步驟，但本領域技術人員可以理解，這些操作步驟中的每一個並非是必不可少的，其中的一些步驟可以被省略或者被其他步驟替代。這些操 作步驟也並非必須以所示的方式依次執行，相反，這些操作步驟中的一些可以根據實際需要以不同的順序執行，或者並行執行，只要新的執行方式不是不符合邏輯的或不能工作。 References herein to "various embodiments," "some embodiments," "one embodiment," or "an embodiment," etc. refer to the fact that a particular feature, structure, or property described in connection with the embodiment is included in the in at least one embodiment. Thus, appearances of the phrases "in various embodiments," "in some embodiments," "in one embodiment," or "in an embodiment" in various places throughout this document are not necessarily referring to the same Example. Furthermore, the particular features, structures, or properties may be combined in any suitable manner in one or more embodiments. Thus, particular features, structures, or properties shown or described in connection with one embodiment may be combined, in whole or in part, with the features, structures, or properties of one or more other embodiments without limitation, provided that the combination is not non-limiting. Logical or not working. Expressions such as "according to A", "based on A", "through A" or "using A" appearing herein are meant to be non-exclusive, that is, "according to A" may encompass "according to A only" or "According to A and B" is covered unless specifically stated or clear from the context to mean "according to A only". In this application, for the sake of clarity, some schematic operation steps are described in a certain order, but those skilled in the art can understand that each of these operation steps is not essential, and some of them may be omitted or replaced by other steps. these fuck Nor do the operational steps have to be performed sequentially in the manner shown, rather, some of the operational steps may be performed in a different order as practically desired, or in parallel, as long as the new manner of execution is not illogical or inoperable.
由此描述了本發明的至少一個實施例的幾個方面，可以理解，對本領域技術人員來說容易地進行各種改變、修改和改進。這種改變、修改和改進意於在本發明的精神和範圍內。雖然本發明已經透過優選實施例進行了描述，然而本發明並非局限於這裡所描述的實施例，在不脫離本發明範圍的情況下還包括所作出的各種改變以及變化。 Having thus described several aspects of at least one embodiment of this invention, it will be appreciated that various changes, modifications, and improvements will readily occur to those skilled in the art. Such changes, modifications and improvements are intended to be within the spirit and scope of the present invention. Although the present invention has been described in terms of the preferred embodiments, the present invention is not limited to the embodiments described herein, and various changes and changes may be made without departing from the scope of the present invention.
雖然本發明以前述實施例揭露如上，然其並非用以限定本發明，任何熟習相像技藝者，在不脫離本發明之精神和範圍內，所作更動與潤飾之等效替換，仍為本發明之專利保護範圍內。 Although the present invention is disclosed above by the foregoing embodiments, it is not intended to limit the present invention. Any person who is familiar with the similar arts, without departing from the spirit and scope of the present invention, can make equivalent replacements such as alterations and modifications, which are still within the scope of the present invention. within the scope of patent protection.
S401~S405:步驟流程 S401~S405: Step flow
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