SLAM-based indoor positioning method

An indoor positioning and pose technology, which is applied in image data processing, instruments, calculations, etc., can solve the problem of not being able to know the device pose, and achieve the effect of increasing real-time and robustness, and optimizing the camera pose.

Active Publication Date: 2018-03-16
NANJING WEIJING SHIKONG INFORMATION TECH CO LTD
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Problems solved by technology

However, this type of method is relatively dependent on the environment, such as: temperature, distance, etc. Bluetooth has a greater impact, so specific methods are required to re-correct in different environments, and often need to deploy multiple devices; in addition, this type of method can only It is impossible to know the posture of the device in space by obtaining the far and near information

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  • SLAM-based indoor positioning method

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Embodiment Construction

[0023] Such as figure 1 As shown, a kind of SLAM-based indoor positioning method disclosed by the present invention comprises the following steps:

[0024] Step 1, load the SLAM map, get the key frame set KFS and 3D point cloud, KFS contains the pose E of each key frame i , downsampling the key frame set KFS to obtain sKFS, downsampling to 40*30 in this embodiment;

[0025] Step 2, using the FAST algorithm to extract the corner points of the input image as feature points, and down-sampling the input image to obtain a thumbnail, the size of which is 40*30 in this embodiment;

[0026] Step 3, use the ESM-tracking algorithm to find the change matrix H between each key frame in sKFS and the input image, H contains the rotation and translation transformation information between two-dimensional images;

[0027] Step 4, align each sKFS with the input image, and calculate the minimum error e i , if the minimum error e i is less than the threshold T, then it is considered that the ...

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Abstract

The invention provides an SLAM-based indoor positioning method. The method comprises the following steps of: loading an SLAM map to obtain a key frame set KFS and a 3D point cloud, and down-sampling the key frame set KFS to obtain sKFS; extracting feature points of an input image and down-sampling the image to obtain a thumbnail; solving a change matrix H between each key frame in the sKFS and theinput image; aligning each sKFS with the input image, calculating a minimum error ei, and if the minimum error ei is smaller than a threshold value T, considering that the input image is matched withthe ith key frame Ki in the KFS; mapping the 3D point cloud into Ki according to a pose Ei of Ki; mapping points in Ki into the input image according to the change matrix H and searching a matched feature point in the input image; and calculating a pose E of the input image by utilizing an epipolar geometric theory according to the matched feature point. According to the indoor positioning method, equipment is positioned on the basis of carrying out indoor mapping by an SLAM, and camera poses are optimized through matching feature points, so that more correct results can be obtained.

Description

technical field [0001] The invention relates to an indoor positioning method, in particular to an indoor positioning method based on SLAM. Background technique [0002] SLAM (simultaneous localization and mapping) is divided into two functions: positioning and mapping. Among them, the main function of map building is to understand the surrounding environment and establish the corresponding relationship between the surrounding environment and space; positioning is mainly to judge the pose of the device in the map based on the built map, so as to obtain information in the environment. [0003] Common indoor positioning technologies mainly use wireless communication, base station positioning, inertial navigation positioning, Bluetooth, wifi and other technologies to integrate a positioning system. However, this type of method is relatively dependent on the environment, such as: temperature, distance, etc. Bluetooth has a greater impact, so specific methods are required to re-c...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/73
CPCG06T7/73
Inventor 潘铭星冯向文孙健杨佩星付俊国雷青
Owner NANJING WEIJING SHIKONG INFORMATION TECH CO LTD
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