AR indoor live-action navigation method and system thereof
A navigation method and real-scene technology, applied in the field of navigation, can solve the problems of high cost, positioning accuracy can only reach the meter level, and large engineering volume, and achieve the effect of low cost
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Embodiment 1
[0033] Such as figure 1 As shown, the AR indoor real scene navigation method provided in this embodiment includes the following steps.
[0034] Step 1: Construct a high-precision map and obtain map data.
[0035] The high-precision map generation scheme is divided into two parts: sparse map construction and dense map construction. Sparse map generation uses the video data collected by the robot as input, and the product is a scale but relatively sparse video point, camera pose and a small number of 3D points; dense map generation uses the subsequent 360 panoramic video as input, and the product is the final denser visual map.
[0036] The sparse point cloud map is constructed using the Structure from Motion (SfM) technology. Use the video or picture collected offline to extract the visual features in the scene, restore the camera pose of the picture and the sparse 3D point cloud of the scene, the visual features and 3D point cloud are mainly used for visual relocation, and ...
Embodiment 2
[0058] Such as figure 2 As shown, this embodiment provides an AR indoor real scene navigation system, which includes a visual analysis subsystem and an application service subsystem.
[0059] The visual analysis subsystem includes a high-precision map building module, a mobile-side positioning module and a server-side positioning module.
[0060] The high-precision map building module includes a sparse map building module and a dense map building module. The sparse map building module uses a motion recovery structure based on the VR map to extract visual features in the scene, restore the pose of the picture and the sparse 3D feature point cloud of the scene, The dense map construction module uses the additional 360 panoramic video and the restored pose as input, and outputs the refined dense point cloud and textured 3D mesh model of the scene; Perform real-time positioning; the server-side positioning module is used to locate the query map in the constructed high-precision ...
Embodiment 3
[0065] Such as image 3 As shown, this embodiment adds a network information security subsystem on the basis of the second preferred embodiment.
[0066] The network information security subsystem includes a rights management module, an access control module and a cloud platform.
[0067] The authority management module adopts identity authentication and authority group authentication to strengthen the security of the system. According to system functions and processes, the system is divided into several functional modules, and the system's authority management requirements for users are met by granting or prohibiting user groups from using the authority of each functional module.
[0068] The access control module provides multiple security checks including identification and verification of user names, identification and verification of user passwords, and default restriction checks of user accounts.
[0069] It is used to support access control to users according to auton...
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