Visual indoor positioning method and system based on architectural planar graph prior information

An indoor positioning and prior information technology, applied in neural learning methods, image analysis, image data processing, etc., can solve the problem that the map coordinate system is only related to the initial position, and achieve small model parameters, strong robustness and adaptability performance, ease of training and deployment

Pending Publication Date: 2022-07-05
GUANGDONG UNIV OF TECH
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Problems solved by technology

However, in traditional visual SLAM technology, localization and mapping are two mutually coupled and simultaneous processes-localization depends on the landmark information provided by the mapping process, and the establishment of a map needs to determine its current position before it can be de

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  • Visual indoor positioning method and system based on architectural planar graph prior information
  • Visual indoor positioning method and system based on architectural planar graph prior information
  • Visual indoor positioning method and system based on architectural planar graph prior information

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Embodiment Construction

[0061] The present invention will be further described below with reference to the accompanying drawings.

[0062] The purpose of the present invention is to overcome the current coupling relationship between traditional visual SLAM positioning and mapping, and on this basis, realize the function of visual indoor positioning by introducing the prior information of the building plan, make full use of the prior information brought by the building plan, and based on the idea of ​​feature matching , designed a deep learning model for end-to-end building plan to 3D landmark point set registration; improve the application flexibility and convenience of indoor positioning equipment, expand the application scenarios of indoor positioning, and obtain its own relative building under the initial conditions of the positioning system. body posture.

[0063] The present invention provides an embodiment:

[0064] like figure 1 As shown in the figure, a visual indoor positioning method base...

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Abstract

In order to solve the defects in the prior art, the invention provides a visual indoor positioning method and system based on architectural plane graph prior information, and the method comprises the steps: architectural plane graph preprocessing, data downsampling, input tensor construction, feature extraction and feature matching, registration and pose calculation, and model training. The method provided by the invention relates to an end-to-end deep learning model, the model innovatively introduces a K nearest neighbor distance histogram, a point cloud feature extraction network, a graph attention network, an optimal transmission algorithm and a self-supervised training method, so that the model has relatively strong robustness and adaptability, and the model has relatively small parameters and is easy to train and deploy; according to the method provided by the invention, the position of the equipment in the building body can be estimated only according to the building plane graph under the condition that the building body is not completely explored.

Description

technical field [0001] The method of the invention relates to the technical field of indoor positioning, and more particularly relates to a visual indoor positioning method and system based on prior information of a building plan. Background technique [0002] The indoor positioning problem has always been the basic problem of many real-world applications, such as AR house viewing, indoor navigation, on-site furniture layout design, building information system, mobile robots and other applications. At present, there are two main technical solutions for indoor positioning. One is the technology based on external beacons, such as ultra-wideband wireless communication technology positioning (UWB), Bluetooth, positioning QR code, etc., but such technologies rely on pre-positioning scenarios. Layout related beacons, and the other type is based on Simultaneous Localization and Mapping (SLAM) technology to achieve indoor positioning, which can use sensors such as lidar and cameras ...

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Application Information

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IPC IPC(8): G06T7/30G06T7/13G06K9/62G06N3/04G06N3/08
CPCG06T7/30G06T7/13G06N3/08G06T2207/10028G06T2207/20081G06T2207/20084G06N3/045G06F18/22
Inventor 曾碧黄小杭刘建圻
Owner GUANGDONG UNIV OF TECH
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