Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Latticed ceiling environment indoor positioning method based on top view camera

A positioning method and a ceiling technology, applied in image enhancement, image analysis, image data processing, etc., can solve problems such as difficult matching and inability to obtain stable positioning information, and achieve accurate positioning, high hardware portability and software reliability Scalable, highly versatile effects

Pending Publication Date: 2021-11-23
上海申匀科技有限公司
View PDF2 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] At present, most positioning solutions are front-view and side-view cameras. In high-dynamic scenes, there will be a large number of occluded areas in adjacent images, and there is also the problem of difficult matching, which cannot be used to obtain stable positioning information.

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Latticed ceiling environment indoor positioning method based on top view camera

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0036] Such as figure 1 As shown, this embodiment proposes a top-view camera-based indoor positioning method for a grid-shaped ceiling environment, which sets two top-view cameras with shooting angles facing the indoor ceiling on the top of the mobile device. It should be noted that the present invention is not limited to the number and type of cameras.

[0037] The logic flow of this embodiment is as follows:

[0038] In step 401, the top-view camera captures the grid-shaped ceiling image of the indoor environment. In the case of a large number of moving obstacles in the horizontal direction, stable left and right adjacent key frames with a certain overlapping area are obtained according to time or distance, for example, every Obtain a pair of key frames at 0.3 meters, and then perform step 402;

[0039] In step 402, multi-level image matching is performed on the obtained image, which is specifically divided into two levels, including steps 403 and 404. This step can also a...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses a latticed ceiling environment indoor positioning method based on a top view camera, and the method comprises the steps: employing the top view camera to shoot an image of an indoor ceiling, and obtaining a sequence image; adopting template matching to obtain a coordinate transformation relation of adjacent sequence images in an image coordinate system; extracting uniformly distributed feature points in the sequence image by using a feature point extraction operator, and assisting feature point matching by using a coordinate transformation relation obtained by template matching; acquiring scale information in the length direction of a base line according to a distance sensor or a plurality of cameras on mobile equipment, and performing template matching, feature point extraction and PnP calculation on an nth sequence image by taking an image space coordinate system of a first sequence image as a global coordinate system, and obtaining the pose of a top view camera of the sequence image and the point cloud coordinates of the extracted sparse feature points; carrying out bundle adjustment in a local range and in the sequence image of which the loop is detected, and optimizing the pose of any sequence image and the point cloud coordinates of the sparse points so as to carry out accurate positioning.

Description

technical field [0001] The invention relates to the technical field of indoor positioning, in particular to a method for indoor positioning in a grid-shaped ceiling environment based on a top-view camera. Background technique [0002] Positioning technology is a core technology of robot work, in which stable and accurate positioning information is the basis for robot decision-making, path planning, and efficient and correct execution of tasks. With the continuous development of related technologies, mobile robots have begun to enter more application scenarios, among which indoor scenes are gradually increasing, such as restaurants, stations, etc., in these environments there are a large number of moving people and other obstacles. The positioning technology of robots in indoor environments has very important practical significance and application value. [0003] Positioning methods are divided into relative positioning and absolute positioning. Absolute positioning is to u...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/73G01C21/20
CPCG06T7/74G01C21/206G06T2207/10028
Inventor 鲍嘉龙
Owner 上海申匀科技有限公司
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com