Video-acquisition-based Visual Map database establishing method and indoor visual positioning method using database
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A technology for video capture and visual positioning, applied in the field of indoor positioning and navigation, can solve the problems of low indoor visual positioning accuracy, time-consuming and labor-intensive, etc.
Active Publication Date: 2015-03-25
哈尔滨工业大学高新技术开发总公司
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[0007] The content of the present invention is to solve the problem of low indoor visual positioning accuracy and time-consuming and labor-intensive problems in the existing methods, thereby providing a method for establishing a Visual Map database based on video acquisition and an indoor visual positioning method using the database
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specific Embodiment approach 1
[0073] The specific embodiment one, based on the Visual Map database establishment method of video collection, it may further comprise the steps:
[0074] Step 1. Select the coordinate origin P0(X 0 ,Y 0 ), to establish a plane two-dimensional Cartesian coordinate system, such as figure 2 shown;
[0075] Step 2: Carry out video shooting in the process of a straight line at a constant speed through the platform carrying the video acquisition device (mobile phone), and record the position coordinate information of the frame in the video by processing the obtained video, the position coordinates can be obtained through the shooting platform The motion speed, the sequence number of the frame and the frame rate of the video are calculated, as shown in formula (1):
[0076] X n = X 0 +...
specific Embodiment approach 2
[0079] Embodiment two, the indoor visual positioning method of the Visual Map database based on the video collection of embodiment one, it may further comprise the steps:
[0080] Step 1. Calculate the hash value of the image uploaded by the user to be located through the perceptual hash algorithm;
[0081] Step 2. According to the hash value calculated by the perceptual hash algorithm in step 1, 4 frames of images are searched from the Visual Map database, and the rough matching process is completed;
[0082] Step 3. Calculate the matching points of the 4 frames of rough matching images obtained in step 2 and the image uploaded by the user through the SURF algorithm;
[0083] Step 4, select 8 pairs of matching points from the matching points obtained by each pair of images in step 3 by RANSAC algorithm, and record their coordinates in the corresponding images;
[0084] Step 5. According to the pixel coordinates obtained in Step 4, the user's position coordinates are calculat...
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Abstract
The invention discloses a video-acquisition-based Visual Map database establishing method and an indoor visual positioning method using a database, relates to the field of indoor positioning and navigation, and aims to solve the problems of low indoor visual positioning accuracy, high time consumption and high labor consumption of an existing method. The indoor visual positioning method using the database is characterized in that a platform carrying a video acquisition device is used for recording videos in the constant-speed linear motion process on the basis of the quickly established video-based Visual Map database; the acquired videos are processed for recording coordinate position information and image matching information of frames of the videos; in an on-line positioning stage, a system is used for roughly matching an image uploaded by a positioned user with the video-based Visual Map database by using a hash value which is obtained by calculating by using a perceptual hash algorithm, and completing the visual indoor positioning by virtue of the roughly matched frames and the uploaded image by using an SURF algorithm and a corresponding epipolar geometry algorithm. The indoor visual positioning method is applied to indoor visual positioning places.
Description
technical field [0001] The invention relates to the field of indoor positioning and navigation. Background technique [0002] With the popularization of smart phones, location-based services have been paid more and more attention by people. Today's satellite positioning only solves the problem of outdoor positioning, and indoor positioning has not yet been unified. In recent years, the indoor positioning method based on Wifi has received extensive attention due to its convenient deployment. However, the current research results show that its positioning accuracy is greatly affected by factors such as the density of people in the room and the occlusion of walls. Considering the factors affecting the deployment cost and positioning accuracy of comprehensive equipment, combined with the relatively mature image processing technology, visual positioning technology has gradually become another hot spot in indoor positioning research, and has received more and more attention. Res...
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