Indoor visual positioning system and method

Abstract

The invention discloses an indoor visual positioning system and method. The indoor visual positioning system comprises a power module, a sensor group, an information processing module, a front faceplate and a wireless communication module, wherein the front faceplate is provided with a positioning lamp group. Two cameras of the indoor visual positioning system can be flexibly mounted on walls and mobile carriers and have a double-eye visual working mode and a single-eye visual working mode. The method based on the indoor visual positioning system comprises, firstly, utilizing the front faceplate information of the cameras to calibrate double-eye visual system external parameters; secondly, utilizing double-eye visual measurement accurate information to structure maps to provide prior knowledge form a subsequent single-eye positioning mode; finally, utilizing knowledge such as points, lines, planes and distances contained in the maps to start the single-eye visual positioning mode and to achieve efficient and rapid positioning. The indoor visual positioning system and method solves the problem that traditional visual positioning methods cannot give consideration to precision and speed simultaneously, improves the flexibility and the automation degree of a positioning system.

Description

Technical field [0001] The invention belongs to the technical field of visual positioning, and in particular relates to an indoor visual positioning system and method. Background technique [0002] Traditional positioning technologies usually include Global Positioning System (GPS) and dead reckoning methods. At present, the use of machine vision technology to realize the positioning of moving targets or the estimation of the attitude of moving carriers has become an effective supplement to the above-mentioned positioning technology, and has attracted wide attention from scholars at home and abroad. According to the different ways of using cameras, vision-based positioning methods are mainly divided into three categories. One is stereo vision positioning, this kind of method can obtain more information, as in the text [Jirawinut R, Prakoonwit S, Cecelja F, etal visual odometer for pedestrian navigation. IEEE Transactions on Instrumentation and Measurement, 2004, 52(4):1166 -117...

AI Technical Summary

Problems solved by technology

The first is stereo vision positioning, which can obtain more information, such as [Jirawinut R, Prakoonwit S, Cecelja F, etal visual odometer for pedestrian navigation. IEEE Transactions on Instrumentation and Measurement, 2004, 52(4): 1166 -1173] proposed a visual navigation system for indoor environments, but the algorithm is complex and the calculation cost is high

The second is full-dimensional visual positioning. This type of method can obtain a wide range of information, but the image distortion is relatively large, such as [Wang Jingshun, Chen Weidong, Cao Qixin. Research on robot self-positioning methods based on panoramic vision and odometer. Robotics, 2005, 27 (1): 41-45.] introduces a self-localization method applied to soccer robots

This invention uses two ordinary cameras to achieve high-precision measurement requirements, but its registration process is complicated and the degree of automation is not high

[0005] Single-use monocular vision positioning has insufficient environmental adaptability, and the positioning accuracy is limited by the accuracy of prior knowledge, while single-use binocular vision positioning method has complicated registration process, slow positioning speed and poor flexibility

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