Panoramic viewpoint positioning and attitude determination method and system based on planar graph, equipment and medium

A technology for positioning, attitude, and plan, which is applied in the field of map processing and can solve the problems of expensive equipment, low measurement accuracy, and increased equipment costs.

Pending Publication Date: 2021-07-06
SHANGHAI JIETU TIANXIA NETWORK SCI & TECH
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  • Application Information

AI Technical Summary

Problems solved by technology

However, the above-mentioned point cloud depth image equipment needs to be equipped with lidar, so the equipment cost is expensive
Or, complete indoor modeling based on visual SLAM (simultaneous localization and mapping, simultaneous localization and mapping), but this method is also expensive in software, and passive visual reconstru

Method used

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  • Panoramic viewpoint positioning and attitude determination method and system based on planar graph, equipment and medium
  • Panoramic viewpoint positioning and attitude determination method and system based on planar graph, equipment and medium
  • Panoramic viewpoint positioning and attitude determination method and system based on planar graph, equipment and medium

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Embodiment Construction

[0048] Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art. The same reference numerals denote the same or similar structures in the drawings, and thus their repeated descriptions will be omitted.

[0049] Such as Figure 4 As shown, an embodiment of the present invention discloses a panoramic view point positioning and posture determination method based on a planar view, which is applied to an interactive page. The method includes the following steps:

[0050] S110. Collect a spherical panorama based on a viewpoint, and obtain a planar unfolded image according to the spherical panorama. The abscissa coordinates of...

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Abstract

The invention provides a panoramic viewpoint positioning and attitude determination method and system based on a plane graph, equipment and a medium, and the method comprises the steps: collecting a spherical panorama based on a viewpoint, and obtaining a plane expansion graph according to the spherical panorama; based on at least three non-collinear positioning reference points set in the indoor plane map, obtaining a non-coplanar reference direction vector corresponding to each positioning reference point in the plane expansion view, and obtaining a corresponding panoramic sight line direction in the spherical panoramic view according to a horizontal axis coordinate where the reference direction vector is located; taking a coordinate of an intersection point between a plurality of reference circular trajectories obtained by taking a connecting line of two adjacent positioning reference points as a chord and a difference value of panoramic sight directions corresponding to two adjacent reference direction vectors as an alternative coordinate set; and according to the plane coordinates of all the positioning reference points, obtaining projection coordinates and angles of the viewpoints in the indoor plane map. According to the invention, the convenience and accuracy of panoramic registration are improved.

Description

technical field [0001] The present invention relates to the technical field of map processing, in particular to a method, system, device and medium for panoramic viewpoint positioning and attitude determination based on planar graphs. Background technique [0002] The indoor plan map can intuitively reflect the macroscopic characteristics of the building, and at the same time provide a certain degree of detailed indoor detail features. Indoor panoramas have detailed visible spatial details but lack overall spatial constraints. In the absence of GPS (Global Positioning System, Global Positioning System) information or other indoor positioning assistance, the positional relationship between the two types of heterogeneous data is uncertain. That is to say, in the absence of positioning and orientation assistance data, independently collected panorama sequences cannot be directly associated with indoor planar maps. [0003] The lack of panoramic sequence data for spatial posit...

Claims

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Application Information

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IPC IPC(8): G06T7/33G06T3/00G06T19/00
CPCG06T3/0043G06T19/003G06T7/337
Inventor 张小虎
Owner SHANGHAI JIETU TIANXIA NETWORK SCI & TECH
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