Binocular visual indoor positioning method based on logo

An indoor positioning and binocular vision technology, applied in image data processing, instruments, computing and other directions, can solve the problem that it is not easy to extract the three-dimensional information of the target with monocular

Active Publication Date: 2016-12-14
NAT INST OF ADVANCED MEDICAL DEVICES SHENZHEN
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  • Summary
  • Abstract
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Problems solved by technology

[0007] The purpose of the present invention is to solve the problem in the prior art that it is not easy to extract the three-

Method used

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  • Binocular visual indoor positioning method based on logo
  • Binocular visual indoor positioning method based on logo
  • Binocular visual indoor positioning method based on logo

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Experimental program
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specific Embodiment approach 1

[0023] Specific embodiment one: the logo-based binocular vision indoor positioning method of this embodiment is specifically prepared according to the following steps:

[0024] Step 1, set up the visual map (Visual Map) database of logo image collection;

[0025] Step 2. Calibration of the internal and external parameters of the binocular camera; use Zhang Zhengyou’s checkerboard calibration method to obtain the internal parameters of the left camera and the internal parameters of the right camera; use Matlab to determine the external parameters R and T of the relative pose relationship between the left camera and the right camera ;

[0026] Step 3, use the binocular camera to shoot the logo image, use the visual information feature of the logo image to match the visual information feature of the VisualMap database image; keep the matching point and remove the wrong matching point;

[0027] Step 4. According to the pixel coordinates obtained in step 3 and Calculate the ve...

specific Embodiment approach 2

[0032] Specific embodiment two: the difference between this embodiment and specific embodiment one is: set up the visual map (Visual Map) database that logo image is collected in the step 1. The specific process is:

[0033] Step 11: Select the origin of the world coordinate system O(x w0 ,z w0 ), establish a plane two-dimensional Cartesian coordinate system O w x w Z w ;

[0034] Step 1 and 2: Use a monocular camera to collect the fixed logo image on the indoor wall, and record the vertex P of the captured logo image information 1 Position coordinates in the world coordinate system and vertex P 2 Position coordinates in the world coordinate system Save the vertex P of the logo image captured by the monocular camera 1 The pixel coordinates p 1 =(u 1 ,v 1 ), define the vertex P of the logo image captured by the monocular camera 2 The pixel coordinates p 2 =(u 2 ,v 2 ), the pixel coordinates (u 1 ,v 1 ), pixel coordinates (u 2 ,v 2 ),Position coordinates a...

specific Embodiment approach 3

[0036] Specific embodiment three: the difference between this embodiment and specific embodiment one or two is: the calibration of the internal and external parameters of the binocular camera in step 2; using Zhang Zhengyou's checkerboard calibration method to obtain the internal parameters of the left camera and the internal parameters of the right camera; Using Matlab to determine the external parameters R and T of the relative pose relationship between the left camera and the right camera are as follows:

[0037] Step 21: Use Zhang Zhengyou’s checkerboard calibration method to calibrate the model parameter matrix of the left camera and the right camera in the Matlab software through the checkerboard plan, and read the internal parameter f of the left camera according to the model parameter matrix l and the intrinsic parameter f of the right camera r , put f l and f r to save;

[0038] Step two two, utilize Matlab to determine the external parameters R and T of the relati...

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Abstract

The invention provides a binocular visual indoor positioning method based on logo, and relates to the binocular visual indoor positioning method. The binocular visual indoor positioning method based on logo aims at the problems in the prior art that target three-dimensional information is not easily extracted through a monocular manner. The method comprises the steps that firstly, a visual map database through logo image acquisition is established; secondly, the internal parameters and the external parameters of a left video camera and a right video camera are solved; thirdly, logo images are photographed by using a binocular video camera, and logo image visual information characteristics are matched with Visual Map database image visual information characteristics; matching points are reserved and mismatching points are eliminated; fourthly, the three-dimensional coordinates of vertexes P1 and P2 are calculated; and fifthly, the coordinates of the left video camera under a world coordinate system are solved. The binocular visual indoor positioning method based on logo is applied to the field of the binocular visual indoor positioning method.

Description

technical field [0001] The invention relates to a binocular vision indoor positioning method, in particular to a logo-based binocular vision indoor positioning method. Background technique [0002] The rapid development of the Internet and wearable devices and the continuous demand for location-aware applications have made location awareness gradually become the information that people rely on and must. Reliable location information brings users a better and more important user experience and feel in many different environments. People are increasingly inseparable from those location services and navigation systems based on GPS and maps in their daily lives. Obviously, the outdoor positioning technology is very mature, and many mobile devices also refer to the outdoor positioning technology. GPS system, GLONASS navigation system, Galileo navigation system and Beidou navigation system are currently widely used satellite positioning systems. Due to the influence of indoor e...

Claims

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Application Information

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IPC IPC(8): G06T7/00
Inventor 马琳林英男徐诗皓徐玉滨
Owner NAT INST OF ADVANCED MEDICAL DEVICES SHENZHEN
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