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

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...

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 reconstruction will fail in areas such as lack of texture

Or, use indoor wifi, bluetooth and other equipment to provide auxiliary positioning, gyroscope or electronic magnetometer and other equipment to provide direction information, etc., but the measurement accuracy of this method is generally not high, and will increase the cost of equipment

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