Urban area and indoor high-precision visual positioning system and method

A visual positioning, high-precision technology, applied in data processing applications, instruments, calculations, etc., can solve the problems that positioning technology is difficult to meet the requirements of user accuracy, reliability, continuity, expensive hardware costs, etc., to achieve stable and sustainable positioning ability, achieve continuous positioning, low cost effect
CN106447585AInactive Publication Date: 2017-02-22WUHAN UNIV
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Patent Information

Authority / Receiving Office
CN ยท China
Current Assignee / Owner
WUHAN UNIV
Publication Date
2017-02-22
Estimated Expiration
Not applicable ยท inactive patent

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Abstract

The invention provides an urban area and indoor high-precision visual positioning system and method. The image information of a surrounding environment is acquired based on a visual sensor to realize high-precision urban area and indoor positioning. The method comprises the steps that the distinguishing feature information of an image is calculated and extracted after the visual sensor captures the scene image information; according to the distinguishing feature information, similarity degree recognition and matching are carried out in the feature information base of a digital three-dimensional model; according to matching coordinate information recorded in an image feature matching process, a geometrical mapping relation from a three-dimensional scene to a two-dimensional image is restored, and a camera intersection model from a two-dimensional image coordinate to a three-dimensional space coordinate is established to determine the three-dimensional position and attitude information of the visual sensor and a dynamic user; multi-source image information captured by the visual sensor is received; a digital three-dimensional model corresponding to a real scene is reconstructed or updated; and the feature information base is updated. According to the invention, robust and sustainable positioning ability is provided when the surrounding environment changes.
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Description

technical field

[0001] The present invention relates to the technical field of urban areas and indoor navigation and positioning, and specifically relates to a method of collecting image information and extracting features through the user's visual sensor, and constructing a three-dimensional geometric mapping of camera intersection by using the feature matching with the three-dimensional model to provide the urban canyon and indoor The centimeter-level high-precision positioning technology provides effective technical support for future unmanned driving and indoor positioning. Background technique

[0002] In today's society, people's demand for navigation and positioning information is increasing day by day. With the rapid development of science and technology, space-based positioning systems represented by GNSS (Global Navigation Satellite System) provide global users with all-weather, low-cost positioning, navigation and timing services at all times. However, space-base...

Claims

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