Indoor positioning method and indoor positioning device

Abstract

The present invention discloses an indoor positioning method and an indoor positioning device. The indoor positioning method comprises: setting a characteristic coding pattern indoors, the characteristic coding pattern comprising a plurality of coding points and a plurality of characteristic points; obtaining a captured image containing the characteristic coding pattern, and determining the shooting focal length, shooting pitch angle and shooting roll angle of the captured image; identifying a plurality of coding points in the characteristic coding pattern on the captured image, and determining the spatial coordinates of each characteristic point in the characteristic coding pattern in the indoor according to the plurality of coding points in the characteristic coding pattern; obtaining the projection coordinates of each characteristic point on an image detector for capturing the captured image; based on the shooting focal length, shooting pitch angle, shooting roll angle and the spatial coordinates and projection coordinates of each characteristic point, the indoor positioning information of the image detector is obtained by adopting the imaging principle of a monocular camera. By adopting the present invention, positioning can be completed by only collecting a single characteristic coding pattern, which reduces the complexity and power consumption of image processing.

Description

Technical Field

[0001] The present invention relates to the field of positioning technology, and in particular to an indoor positioning method and an indoor positioning device. Background Art

[0002] With the development of mobile Internet and positioning and navigation technology, the application of location information in daily life, public services, industrial production and other fields is increasing, and people are paying more and more attention to it. At present, global positioning systems based on satellite signals (such as GPS, Beidou, etc.) have been popularized and have very wide applications. However, in indoor or underground environments, due to the attenuation or obstruction of satellite signals, positioning services are no longer effective, forming a positioning blind spot. To address this problem, indoor positioning methods based on Wi-Fi (wireless fidelity), Bluetooth, ultrasound, infrared, ultra-wideband, computer vision and lidar have gradually emerged. However, the above-mentioned indoor positioning methods still have the problems of high deployment cost, low positioning accuracy and reliability. Summary of the invention

[0003] The embodiments of the present invention provide an indoor positioning method and an indoor positioning device, which are used to solve the problems of low indoor positioning accuracy, low reliability, high cost, difficult deployment, and difficulty in large-scale use in the prior art.

[0004] An indoor positioning method according to an embodiment of the present invention includes:

[0005] Setting a characteristic coding pattern indoors, the characteristic coding pattern comprising a plurality of coding points and a plurality of characteristic points;

[0006] Acquire a captured image containing the characteristic coding pattern, and determine a shooting focal length, a shooting pitch angle, and a shooting roll angle of the captured image;

[0007] Identify a plurality of coding points in the characteristic coding pattern on the captured image, and determine the spatial coordinates of each characteristic point in the characteristic coding pattern in the room according to the plurality of coding points in the characteristic coding pattern;

[0008] Obtaining projection coordinates of each of the feature points on an image detector that captures the captured image;

[0009] Based on the shooting focal length, the shooting pitch angle, the shooting roll angle, and the spatial coordinates and projection coordinates of each of the feature points, the indoor positioning information of the image detector is acquired by adopting the imaging principle of a monocular camera.

[0010] According to some embodiments of the present invention, setting a characteristic coding pattern indoors includes:

[0011] The characteristic coding pattern is pasted on the indoor lighting source.

[0012] In some embodiments of the present invention, the characteristic coding pattern is a color translucent element, the color of the coding point is a first series of colors, the color of the characteristic point is a second series of colors, and the first series of colors is different from the second series of colors.

[0013] Furthermore, the color translucent member is a color filter, a color transparent sticker, or a color transparent acrylic plate.

[0014] In some embodiments of the present invention, the shape of the encoding point is a first shape, the shape of the feature point is a second shape, and the second shape is different from the first shape.

[0015] According to some embodiments of the present invention, acquiring the captured image containing the characteristic coding pattern comprises:

[0016] An indoor image is collected, and it is determined whether the indoor image contains the multiple feature points. If so, it is determined that the indoor image is a captured image containing the feature coding pattern.

[0017] In some embodiments of the present invention, the identifying multiple coding points in the characteristic coding pattern on the captured image, and determining the spatial coordinates of each characteristic point in the characteristic coding pattern in the room according to the multiple coding points in the characteristic coding pattern, includes:

[0018] Acquire a first correspondence between the identity information of the characteristic coding pattern and a plurality of coding points in the characteristic coding pattern, and a second correspondence between the identity information of the characteristic coding pattern and the spatial coordinates of each characteristic point on the characteristic coding pattern in the room;

[0019] Identify a plurality of coding points in the characteristic coding pattern on the captured image, and determine identity information of the characteristic coding pattern on the captured image based on the first corresponding relationship;

[0020] Based on the second corresponding relationship, the spatial coordinates of each feature point in the feature coding pattern on the captured image in the room are determined according to the identity information of the feature coding pattern on the captured image.

[0021] Further, the plurality of feature points include a first feature point, a second feature point and a third feature point;

[0022] The method of acquiring indoor positioning information of the image detector based on the shooting focal length, the shooting pitch angle, the shooting roll angle, and the spatial coordinates and projection coordinates of each of the feature points by adopting the imaging principle of a monocular camera includes:

[0023] Based on the projection coordinates (x″) of the first feature point p1 ,y″ p1), the projection coordinates (x″) of the second feature point p2 ,y″ p2 ), the projection coordinate (x″) of the third feature point p3 ,y″ p3 ), the shooting pitch angle γ, the shooting roll angle β, the shooting focal length f, and calculate the compensation coordinates (x') of the first feature point according to formula 1 p1 ,y' p1 ), the compensation coordinates of the second feature point (x' p2 ,y' p2 ) and the compensation coordinates (x' p3 ,y' p3 ),

[0024]

[0025] Based on the spatial coordinates (x1, y1) of the first feature point, the spatial coordinates (x2, y2) of the second feature point, and the compensation coordinates (x' p1 ,y' p1 ), the compensation coordinates of the second feature point (x' p2 ,y' p2 ), the shooting azimuth angle θ of the captured image is calculated according to Formula 2,

[0026]

[0027] Based on the compensation coordinates (x' p1 ,y' p1 ), the compensation coordinates of the second feature point (x' p2 ,y' p2 ), the compensation coordinates (x' p3 ,y' p3 ) and the shooting azimuth angle θ, the re-compensation coordinates (x) of the first feature point are calculated according to Formula 3 p1 ,y p1 ), the re-compensated coordinates of the second feature point (x p2 ,y p2 ), the re-compensated coordinates (x p3 ,y p3 ),

[0028]

[0029] Based on the spatial coordinates (x1, y1) of the first feature point, the spatial coordinates (x2, y2) of the second feature point, the spatial coordinates (x3, y3) of the third feature point, and the re-compensated coordinates (x1, y1) of the first feature point p1 ,yp1 ), the re-compensated coordinates of the second feature point (x p2 ,y p2 ), the re-compensated coordinates (x p3 ,y p3 ), calculate the shooting height h of the captured image according to Formula 4,

[0030]

[0031] Based on the spatial coordinates (x1, y1) of the first feature point, the spatial coordinates (x2, y2) of the second feature point, the spatial coordinates (x3, y3) of the third feature point, and the shooting height h of the shot image, solve formula 5 to obtain the spatial coordinates (x, y, h) of the image detector in the room.

[0032]

[0033] in:

[0034]

[0035] An indoor positioning device according to an embodiment of the present invention includes:

[0036] A characteristic coding pattern is provided indoors, wherein the characteristic coding pattern comprises a plurality of coding points and a plurality of characteristic points;

[0037] An image detector, used to obtain a captured image containing the characteristic coding pattern and determine a shooting focal length of the captured image;

[0038] An angle detector, used to obtain a shooting pitch angle and a shooting roll angle of the shot image;

[0039] A feature code identifier, which is in communication connection with the image detector, and is used to identify a plurality of code points in the feature code pattern on the captured image, and determine the spatial coordinates of each feature point in the feature code pattern in the room according to the plurality of code points in the feature code pattern, and obtain the projection coordinates of each feature point on the image detector that captured the captured image;

[0040] The locator is communicatively connected with the image detector, the angle detector, and the feature code identifier. The locator is used to obtain the indoor positioning information of the image detector based on the shooting focal length, the shooting pitch angle, the shooting roll angle, and the spatial coordinates and projection coordinates of each feature point using the imaging principle of a monocular camera.

[0041] According to some embodiments of the present invention, the characteristic coding pattern is provided on the indoor lighting source.

[0042] By adopting the embodiment of the present invention, there is no need for additional modulation circuits and other additional hardware related to power supply and network, and positioning can be completed by collecting a single characteristic coding pattern, thereby reducing the complexity and power consumption of image processing as well as equipment hardware and layout.

[0043] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Various other advantages and benefits will become apparent to those skilled in the art by reading the detailed description of the embodiments below. The accompanying drawings are only used to illustrate the preferred embodiments and are not to be considered as limiting the present invention. In the accompanying drawings:

[0045] Figure 1 is a flow chart of an indoor positioning method in an embodiment of the present invention;

[0046] Figure 2 is a schematic structural diagram of an indoor positioning device in an embodiment of the present invention;

[0047] Figure 3 It is a schematic diagram of the structure of the characteristic coding pattern in an embodiment of the present invention. DETAILED DESCRIPTION

[0048] The exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present invention and to enable the scope of the present invention to be fully communicated to those skilled in the art.

[0049] like Figure 1 As shown, the indoor positioning method according to an embodiment of the present invention includes:

[0050] S1, setting a characteristic coding pattern indoors, wherein the characteristic coding pattern includes a plurality of coding points and a plurality of characteristic points;

[0051] S2, acquiring a captured image containing the characteristic coding pattern, and determining a shooting focal length, a shooting pitch angle, and a shooting roll angle of the captured image;

[0052] S3, identifying a plurality of coding points in the characteristic coding pattern on the captured image, and determining the spatial coordinates of each characteristic point in the characteristic coding pattern in the room according to the plurality of coding points in the characteristic coding pattern;

[0053] S4, obtaining the projection coordinates of each of the feature points on the image detector that captured the captured image;

[0054] S5, based on the shooting focal length, the shooting pitch angle, the shooting roll angle, and the spatial coordinates and projection coordinates of each of the feature points, the indoor positioning information of the image detector is obtained by adopting the imaging principle of a monocular camera.

[0055] By adopting the embodiment of the present invention, there is no need for additional modulation circuits and other additional hardware related to power supply and network, and positioning can be completed by collecting a single characteristic coding pattern, thereby reducing the complexity and power consumption of image processing as well as equipment hardware and layout.

[0056] On the basis of the above-mentioned embodiments, various variant embodiments are further proposed. It should be noted that, in order to make the description concise, only the differences from the above-mentioned embodiments are described in each variant embodiment.

[0057] According to some embodiments of the present invention, setting a characteristic coding pattern indoors includes:

[0058] The characteristic coding pattern is pasted on the indoor lighting source.

[0059] The lighting source can be an artificial light source such as an indoor lighting lamp, or a natural light source such as a skylight.

[0060] One lighting source may be provided with one or more characteristic coding patterns, and the characteristic coding pattern is the minimum positioning unit, rather than one lighting source as the minimum positioning unit. Therefore, there is no restriction on the type, size and shape of the lighting source, and the applicability is stronger. In addition, when one lighting source is provided with multiple characteristic coding patterns, obtaining a captured image containing the characteristic coding pattern can be understood as obtaining a captured image containing one characteristic coding pattern. It is only necessary to ensure that there is a complete characteristic coding pattern in the captured image.

[0061] In some embodiments of the present invention, the characteristic coding pattern is a color translucent element, the color of the coding point is a first series of colors, the color of the characteristic point is a second series of colors, and the first series of colors is different from the second series of colors.

[0062] Furthermore, the color translucent member is a color filter, a color transparent sticker, or a color transparent acrylic plate.

[0063] In some embodiments of the present invention, the shape of the encoding point is a first shape, the shape of the feature point is a second shape, and the second shape is different from the first shape.

[0064] According to some embodiments of the present invention, acquiring the captured image containing the characteristic coding pattern comprises:

[0065] An indoor image is collected, and it is determined whether the indoor image contains the multiple feature points. If so, it is determined that the indoor image is a captured image containing the feature coding pattern.

[0066] In some embodiments of the present invention, the identifying multiple coding points in the characteristic coding pattern on the captured image, and determining the spatial coordinates of each characteristic point in the characteristic coding pattern in the room according to the multiple coding points in the characteristic coding pattern, includes:

[0067] Acquire a first correspondence between the identity information of the characteristic coding pattern and a plurality of coding points in the characteristic coding pattern, and a second correspondence between the identity information of the characteristic coding pattern and the spatial coordinates of each characteristic point on the characteristic coding pattern in the room;

[0068] Identify a plurality of coding points in the characteristic coding pattern on the captured image, and determine identity information of the characteristic coding pattern on the captured image based on the first corresponding relationship;

[0069] Based on the second corresponding relationship, the spatial coordinates of each feature point in the feature coding pattern on the captured image in the room are determined according to the identity information of the feature coding pattern on the captured image.

[0070] Furthermore, the plurality of feature points include a first feature point, a second feature point and a third feature point. The first feature point, the second feature point and the third feature point are arranged alternately, and a line connecting the first feature point and the second feature point is perpendicular to a line connecting the first feature point and the third feature point.

[0071] The method of acquiring indoor positioning information of the image detector based on the shooting focal length, the shooting pitch angle, the shooting roll angle, and the spatial coordinates and projection coordinates of each of the feature points by adopting the imaging principle of a monocular camera includes:

[0072] Based on the projection coordinates (x″) of the first feature point p1 ,y″ p1 ), the projection coordinates (x″) of the second feature point p2 ,y″ p2 ), the projection coordinates (x″) of the third feature point p3 ,y″ p3 ), the shooting pitch angle γ, the shooting roll angle β, the shooting focal length f, and calculate the compensation coordinates (x') of the first feature point according to formula 1 p1 ,y' p1 ), the compensation coordinates of the second feature point (x' p2 ,y' p2 ) and the compensation coordinates (x' p3 ,y'p3 ),

[0073]

[0074] Based on the spatial coordinates (x1, y1) of the first feature point, the spatial coordinates (x2, y2) of the second feature point, and the compensation coordinates (x' p1 ,y' p1 ), the compensation coordinates of the second feature point (x' p2 ,y' p2 ), the shooting azimuth angle θ of the captured image is calculated according to Formula 2,

[0075]

[0076] Based on the compensation coordinates (x' p1 ,y' p1 ), the compensation coordinates of the second feature point (x' p2 ,y' p2 ), the compensation coordinates (x' p3 ,y' p3 ) and the shooting azimuth angle θ, the re-compensation coordinates (x) of the first feature point are calculated according to Formula 3 p1 ,y p1 ), the re-compensated coordinates of the second feature point (x p2 ,y p2 ), the re-compensated coordinates (x p3 ,y p3 ),

[0077]

[0078] Based on the spatial coordinates (x1, y1) of the first feature point, the spatial coordinates (x2, y2) of the second feature point, the spatial coordinates (x3, y3) of the third feature point, and the re-compensated coordinates (x1, y1) of the first feature point p1 ,y p1 ), the re-compensated coordinates of the second feature point (x p2 ,y p2 ), the re-compensated coordinates (x p3 ,y p3 ), calculate the shooting height h of the captured image according to Formula 4,

[0079]

[0080] Based on the spatial coordinates (x1, y1) of the first feature point, the spatial coordinates (x2, y2) of the second feature point, the spatial coordinates (x3, y3) of the third feature point, and the shooting height h of the shot image, solve formula 5 to obtain the spatial coordinates (x, y, h) of the image detector in the room.

[0081]

[0082] in:

[0083]

[0084] An indoor positioning device according to an embodiment of the present invention includes:

[0085] A characteristic coding pattern is provided indoors, wherein the characteristic coding pattern comprises a plurality of coding points and a plurality of characteristic points;

[0086] An image detector, used to obtain a captured image containing the characteristic coding pattern and determine a shooting focal length of the captured image;

[0087] An angle detector, used to obtain a shooting pitch angle and a shooting roll angle of the shot image;

[0088] A feature code identifier, which is in communication connection with the image detector, and is used to identify a plurality of code points in the feature code pattern on the captured image, and determine the spatial coordinates of each feature point in the feature code pattern in the room according to the plurality of code points in the feature code pattern, and obtain the projection coordinates of each feature point on the image detector that captured the captured image;

[0089] The locator is communicatively connected with the image detector, the angle detector, and the feature code identifier. The locator is used to obtain the indoor positioning information of the image detector based on the shooting focal length, the shooting pitch angle, the shooting roll angle, and the spatial coordinates and projection coordinates of each feature point using the imaging principle of a monocular camera.

[0090] By adopting the embodiment of the present invention, the transmitting end uses a passive device (i.e., a feature coding pattern) without any power consumption. The receiving end does not need to identify the light source through imaging communication, but instead uses the feature coding pattern to obtain feature point information used for positioning, thereby reducing the complexity and power consumption of image processing at the receiving end as well as the hardware and layout of the equipment.

[0091] On the basis of the above-mentioned embodiments, various variant embodiments are further proposed. It should be noted that, in order to make the description concise, only the differences from the above-mentioned embodiments are described in each variant embodiment.

[0092] According to some embodiments of the present invention, the characteristic coding pattern is provided on the indoor lighting source.

[0093] In some embodiments of the present invention, the characteristic coding pattern is a color translucent element, the color of the coding point is a first series of colors, the color of the characteristic point is a second series of colors, and the first series of colors is different from the second series of colors.

[0094] Furthermore, the color translucent member is a color filter, a color transparent sticker, or a color transparent acrylic plate.

[0095] In some embodiments of the present invention, the shape of the encoding point is a first shape, the shape of the feature point is a second shape, and the second shape is different from the first shape.

[0096] According to some embodiments of the present invention, the image detector is used to:

[0097] An indoor image is collected, and it is determined whether the indoor image contains the multiple feature points. If so, it is determined that the indoor image is a captured image containing the feature coding pattern.

[0098] In some embodiments of the present invention, the feature code identifier is used to:

[0099] Acquire a first correspondence between the identity information of the characteristic coding pattern and a plurality of coding points in the characteristic coding pattern, and a second correspondence between the identity information of the characteristic coding pattern and the spatial coordinates of each characteristic point on the characteristic coding pattern in the room;

[0100] Identify a plurality of coding points in the characteristic coding pattern on the captured image, and determine identity information of the characteristic coding pattern on the captured image based on the first corresponding relationship;

[0101] Based on the second corresponding relationship, the spatial coordinates of each feature point in the feature coding pattern on the captured image in the room are determined according to the identity information of the feature coding pattern on the captured image.

[0102] Further, the plurality of feature points include a first feature point, a second feature point and a third feature point;

[0103] The positioner is used to:

[0104] Based on the projection coordinates (x″) of the first feature point p1 ,y″ p1 ), the projection coordinates (x″) of the second feature point p2 ,y″ p2 ), the projection coordinates (x″) of the third feature point p3 ,y″ p3), the shooting pitch angle γ, the shooting roll angle β, the shooting focal length f, and calculate the compensation coordinates (x') of the first feature point according to formula 1 p1 ,y' p1 ), the compensation coordinates of the second feature point (x' p2 ,y' p2 ) and the compensation coordinates (x' p3 ,y' p3 ),

[0105]

[0106] Based on the spatial coordinates (x1, y1) of the first feature point, the spatial coordinates (x2, y2) of the second feature point, and the compensation coordinates (x' p1 ,y' p1 ), the compensation coordinates of the second feature point (x' p2 ,y' p2 ), the shooting azimuth angle θ of the captured image is calculated according to Formula 2,

[0107]

[0108] Based on the compensation coordinates (x' p1 ,y' p1 ), the compensation coordinates of the second feature point (x' p2 ,y' p2 ), the compensation coordinates (x' p3 ,y' p3 ) and the shooting azimuth angle θ, the re-compensation coordinates (x) of the first feature point are calculated according to Formula 3 p1 ,y p1 ), the re-compensated coordinates of the second feature point (x p2 ,y p2 ), the re-compensated coordinates (x p3 ,y p3 ),

[0109]

[0110] Based on the spatial coordinates (x1, y1) of the first feature point, the spatial coordinates (x2, y2) of the second feature point, the spatial coordinates (x3, y3) of the third feature point, and the re-compensated coordinates (x1, y1) of the first feature point p1 ,y p1 ), the re-compensated coordinates of the second feature point (x p2 ,y p2 ), the re-compensated coordinates (x p3 ,yp3 ), calculate the shooting height h of the captured image according to Formula 4,

[0111]

[0112] Based on the spatial coordinates (x1, y1) of the first feature point, the spatial coordinates (x2, y2) of the second feature point, the spatial coordinates (x3, y3) of the third feature point, and the shooting height h of the shot image, solve formula 5 to obtain the spatial coordinates (x, y, h) of the image detector in the room.

[0113]

[0114] in:

[0115]

[0116] Refer to the following Figure 2-Figure 3 The indoor positioning method according to the embodiment of the present invention is described in detail with a specific embodiment. It is worth noting that the following description is only an exemplary description, and is not a specific limitation of the present invention. All similar structures and similar variations of the present invention should be included in the protection scope of the present invention.

[0117] With the development of mobile Internet and positioning and navigation technology, the application of location information in daily life, public services, industrial production and other fields is increasing, and people are paying more and more attention to it. At present, the satellite-based global positioning system has been widely used. However, in indoor or underground environments, due to the influence of signal shielding and attenuation, satellite positioning technology cannot be effectively applied. In recent years, in response to the contradiction between indoor positioning needs and technology, indoor positioning technologies based on principles such as WiFi, Bluetooth, ultra-wideband, computer vision, lidar and ultrasound have emerged at home and abroad. However, due to the limitations of technical principles, these technologies have certain defects in accuracy, stability, cost and other aspects.

[0118] As an emerging indoor positioning technology, visible light positioning technology uses optical signals in the visible light band as a carrier and can utilize existing indoor lighting sources to obtain high-precision location information. It has the advantages of high precision, low cost, low power consumption, and no electromagnetic interference. It can be used in daily life, public services, commerce, industrial automation and other fields.

[0119] Current visible light positioning technology can be roughly divided into two types, based on the different detectors used at the receiving end: non-imaging visible light positioning based on photoelectric detectors and imaging visible light positioning based on image detectors. Since photoelectric detectors are low-cost, they are usually suitable for industrial applications. On the other hand, since most personal mobile terminals such as smartphones are integrated with image detectors, imaging visible light positioning is more suitable for daily life, public services and commercial applications.

[0120] For the current imaging type visible light positioning technology, it is usually necessary to use artificial light sources and modify the circuits of the lighting sources (such as CN 105548964 A, an indoor visible light positioning method based on light source imaging), which has high hardware costs and requires renovation of the indoor environment. On the other hand, in the current imaging type visible light positioning technology, the identity information of the light source is usually transmitted through imaging communication (such as CN 105548964 A, a stripe recognition and information detection algorithm for visible light imaging positioning), which requires more complex image and signal processing, and has higher power consumption and computing resource consumption at the receiving end, all of which affect the large-scale promotion and use of the positioning system.

[0121] In order to solve the shortcomings of the current imaging type visible light positioning technology, which requires the addition of a modulation circuit to a specific lighting source and requires complex signal transmission and image processing, an embodiment of the present invention provides an indoor positioning method.

[0122] like Figure 2 As shown, the indoor positioning device based on the indoor positioning method of the embodiment of the present invention includes two parts: a transmitting end and a receiving end.

[0123] The transmitting end includes an illumination light source and a characteristic coding pattern, which provides a position reference for the receiving end on the basis of providing illumination.

[0124] Specifically, if Figure 3 As shown, a characteristic coding pattern is added to the surface of the illumination light source, and the characteristic coding pattern includes characteristic points ( Figure 3 The point marked A in the figure) and the coded point ( Figure 3The feature coding pattern is made of colored light-transmitting materials, such as color filters, colored transparent stickers, colored transparent acrylic plates, etc. The number of feature points is not less than three, with specific colors and relative positions, which are used for the identification and calibration of the feature coding pattern and provide positioning reference points for the locator. In actual use, each feature point can use the same color or different colors. The coding points are located between the feature points, and the coding length is variable. The identity information of the feature coding pattern is recorded by the coding sequence composed of the coding points. The unique identity information of the feature coding pattern can be obtained by decoding the coding sequence subsequently. Each coding point can be the same color or different colors. It should be noted that the colors used for the coding points and the feature points should not be repeated, so as not to affect the identification of the feature points and the decoding of the coding points.

[0125] The identity information of all feature coding patterns and the spatial coordinate information of each feature point therein constitute a database. For each feature coding pattern, by identifying its identity information, the spatial coordinates of each feature point therein can be obtained through the database.

[0126] The pattern composed of feature points and coding points can be Figure 3 The square in the figure can also be other shapes such as hexagon, circle, etc.

[0127] Each illumination light source surface may have one or more characteristic coding patterns, and the characteristic coding patterns do not overlap each other. The positioning method uses one characteristic coding pattern as the minimum positioning unit, and the receiving end only needs to collect an image of a single coding pattern to complete the positioning.

[0128] The lighting source can be an artificial light source such as an indoor lighting lamp, or a natural light source such as a skylight.

[0129] The receiving end includes an image detector, an angle detector, a feature code identifier and a locator. The image detector is used to collect color images containing feature code patterns and record the focal length and other shooting information of the imaging system when collecting images. The angle detector is used to record the pitch and roll angles of the receiving end while the image detector is collecting images.

[0130] The functions of the feature code identifier include feature point identification and code identification. Feature point identification is to identify whether the captured image contains a complete feature code pattern based on the color and relative position characteristics of each feature point. If not, continue to collect. If yes, then in the collected image, the projection points of each feature point on the image detector are identified based on the color and relative position characteristics of each feature point, and the coordinates of the projection points of each feature point are recorded. Code identification is to decode the code sequence to obtain the identity information of the feature code pattern, and further obtain the spatial coordinates of each feature point in the feature code pattern by querying the database.

[0131] The function of the locator is to combine the spatial coordinates of each feature point in the feature coding pattern, the projection point coordinates of each feature point, the actual size of each pixel in the image detector table and other shooting parameters such as focal length, and the pitch angle and roll angle of the receiving end. According to the imaging principle of the monocular camera, a group of positioning equations is listed and solved to obtain the three-dimensional spatial coordinates and azimuth of the image detector, thereby completing the three-dimensional positioning and direction measurement of the receiving end.

[0132] Indoor positioning methods include:

[0133] Step 1: Take an image and use an angle sensor to measure the pitch angle γ and roll angle β of the receiving end at this time;

[0134] Step 2: Identify the feature point A and the coding point B of the feature pattern in the image, decode the coding point B, identify the light source, and retrieve the coordinates of at least three feature points A (x1, y1, z), (x2, y2, z), (x3, y3, z) through the database (here it is assumed that the three feature points have the same height);

[0135] Step 3: Identify the coordinates (x″) of the three projection points corresponding to the three feature points A in the acquired image on the image detector p1 ,y″ p1 )、(x″ p2 ,y″ p2 )、(x″ p3 ,y″ p3 ) coordinate value = number of pixels in the corresponding coordinate axis direction × pixel width). Since these three coordinates will be affected by the pitch angle and roll angle, it is necessary to combine the pitch angle γ and roll angle β measured in the first step to obtain the compensation coordinates of the three projection points (x' p1 ,y' p1 )、(x' p2 ,y' p2 )、(x' p3 ,y' p3 ), note that f in the formula represents the focal length of the image detector when taking the image:

[0136]

[0137] Step 4: Select two feature points A and the compensation coordinates of their corresponding projection points, and obtain the azimuth angle θ of the receiving end by the following formula:

[0138]

[0139] Step 5: Combine the compensation coordinates of the projection points corresponding to the three feature points A and the azimuth angle θ of the receiving end, and obtain the re-compensation coordinates (x p1 ,yp1 )、(x p2 ,y p2 )、(x p3 ,y p3 ):

[0140]

[0141] Step 6: Select three feature points A and the re-compensated coordinates of their corresponding projection points, and obtain the height coordinate h of the receiving end by the following formula:

[0142]

[0143] Step 7: Select three feature points A and the re-compensation coordinates of their corresponding projection points, and list the positioning equations as follows:

[0144]

[0145] in:

[0146]

[0147] Step 8: Solve the equations in step 7. The obtained (x, y) is the two-dimensional coordinate of the receiving end. Combined with the height coordinate and azimuth angle obtained previously, we can finally get the three-dimensional coordinate (x, y, h) and azimuth angle θ of the receiving end.

[0148] The indoor positioning method of the embodiment of the present invention has the following beneficial effects:

[0149] 1) In the positioning system, the transmitter does not need additional modulation circuits and other additional hardware related to power supply and network, and the hardware deployment cost is low;

[0150] 2) In addition to using existing indoor lighting sources, the positioning system transmitter can also use natural light sources such as skylights. In addition, in the positioning system, the positioning method uses a feature coding pattern as the minimum positioning unit, rather than a lighting source as the minimum positioning unit. Therefore, there is no restriction on the type, size and shape of the lighting source, and it is more applicable.

[0151] Compared with the prior art "fringe recognition and information detection algorithm for visible light imaging positioning", it has the following beneficial effects:

[0152] 1) In addition to the existing lighting sources in the environment, the transmitter uses passive devices (characteristic coding patterns) and does not consume any power;

[0153] 2) The receiving end does not need to identify the lighting source through imaging communication, which reduces the complexity and power consumption of image processing at the receiving end.

[0154] The key points of the indoor positioning method of the embodiment of the present invention include:

[0155] 1. An indoor visible light positioning method based on illumination light source feature coding, characterized in that it is composed of a transmitting end and a receiving end. The transmitting end includes an illumination light source and a feature coding pattern, and provides a position reference for the positioning system while providing illumination. The receiving end includes an image detector, an angle detector, a feature coding identifier and a locator.

[0156] 2. In the actual positioning process, when the receiving end collects an image containing a complete feature coding pattern, it can complete its own positioning and orientation using the feature coding identifier and locator.

[0157] 3. The characteristic coding pattern contains colored and transparent characteristic points and coding points. The characteristic points are used to identify and calibrate the characteristic coding pattern and provide positioning reference points for the locator. The coding points are used to represent the unique identity information of each characteristic coding pattern in a sequence. The characteristic points and coding points can be one color or multiple colors.

[0158] 4. The characteristic coding pattern is attached to the surface of the lighting source, which can be an artificial light source such as a lighting lamp, or a natural light source such as a skylight. There can be one or more characteristic coding patterns on the surface of a lighting source. The shape of the characteristic coding pattern can be square, hexagonal, circular, and other shapes.

[0159] 5. The image detector is used to collect images containing characteristic coding patterns and record the imaging system focal length and other shooting data during the collection. The angle detector is used to collect the pitch angle and roll angle of the receiving end while the image detector collects the image.

[0160] 6. The function of the feature code identifier is to perform feature point recognition and code recognition on the collected feature code pattern. Feature point recognition refers to the recognition of feature points in the feature code pattern and obtaining the projection point coordinates of each feature point on the image detector surface. Code recognition refers to decoding the code points in the feature code pattern, obtaining the identity information of the feature code pattern, and further obtaining the spatial coordinates of each feature point on it.

[0161] 7. The function of the locator is to solve the spatial coordinates and azimuth of the receiving end based on the spatial coordinates of each feature point in the feature coding pattern, the coordinates of the projection points of each feature point, the actual size and focal length of each pixel on the image detector surface, and the pitch angle and roll angle of the receiving end, thereby completing the three-dimensional positioning and direction measurement of the receiving end.

[0162] It should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

[0163] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Although some embodiments described herein include certain features included in other embodiments but not other features, the combination of features of different embodiments is meant to be within the scope of the present invention and form different embodiments. The specific features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. For example, in the claims, any one of the claimed embodiments may be used in any combination.

[0164] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. An indoor positioning method, characterized in that: include: Setting a characteristic coding pattern indoors, the characteristic coding pattern comprising a plurality of coding points and a plurality of characteristic points; Acquire a captured image containing the characteristic coding pattern, and determine a shooting focal length, a shooting pitch angle, and a shooting roll angle of the captured image; Identify a plurality of coding points in the characteristic coding pattern on the captured image, and determine the spatial coordinates of each characteristic point in the characteristic coding pattern in the room according to the plurality of coding points in the characteristic coding pattern; Obtaining projection coordinates of each of the feature points on an image detector that captures the captured image; Based on the shooting focal length, the shooting pitch angle, the shooting roll angle, and the spatial coordinates and projection coordinates of each of the feature points, the indoor positioning information of the image detector is obtained by adopting the imaging principle of a monocular camera; The identifying of a plurality of coding points in the characteristic coding pattern on the captured image, and determining the spatial coordinates of each characteristic point in the characteristic coding pattern in the room according to the plurality of coding points in the characteristic coding pattern, comprises: Acquire a first correspondence between the identity information of the characteristic coding pattern and a plurality of coding points in the characteristic coding pattern, and a second correspondence between the identity information of the characteristic coding pattern and the spatial coordinates of each characteristic point on the characteristic coding pattern in the room; Identify a plurality of coding points in the characteristic coding pattern on the captured image, and determine identity information of the characteristic coding pattern on the captured image based on the first corresponding relationship; Based on the second corresponding relationship, determining the spatial coordinates of each feature point in the feature coding pattern on the captured image in the room according to the identity information of the feature coding pattern on the captured image; The plurality of feature points include a first feature point, a second feature point and a third feature point; The method of acquiring indoor positioning information of the image detector based on the shooting focal length, the shooting pitch angle, the shooting roll angle, and the spatial coordinates and projection coordinates of each of the feature points by adopting the imaging principle of a monocular camera includes: Based on the projection coordinates of the first feature point , the projection coordinates of the second feature point , the projection coordinates of the third feature point , the shooting pitch angle , the shooting roll angle , the shooting focal length , calculate the compensation coordinates of the first feature point according to formula 1 , the compensation coordinates of the second feature point And the compensation coordinates of the third feature point , Formula 1; Based on the spatial coordinates of the first feature point , the spatial coordinates of the second feature point , the compensation coordinates of the first feature point , the compensation coordinates of the second feature point , calculate the shooting azimuth angle of the captured image according to Formula 2 , Formula 2: Based on the compensation coordinates of the first feature point , the compensation coordinates of the second feature point, The compensation coordinates of the third feature point And the shooting azimuth , calculate the re-compensation coordinates of the first feature point according to formula 3 , the re-compensation coordinates of the second feature point , the re-compensation coordinates of the third feature point , Formula 3: Based on the spatial coordinates of the first feature point , the spatial coordinates of the second feature point , the spatial coordinates of the third feature point , the re-compensation coordinates of the first feature point , the re-compensation coordinates of the second feature point , the re-compensation coordinates of the third feature point , calculate the shooting height of the captured image according to Formula 4 , Formula 4: Wherein, z is the Z-axis coordinate of the first feature point, the second feature point, and the third feature point; Based on the spatial coordinates of the first feature point , the spatial coordinates of the second feature point , the spatial coordinates of the third feature point and the shooting height of the captured image , solve formula 5 to obtain the spatial coordinates of the image detector in the room , Formula 5: in: 。 2. The method according to claim 1, characterized in that The step of setting a characteristic coding pattern indoors comprises: The characteristic coding pattern is pasted on the indoor lighting source.

3. The method according to claim 2, characterized in that The characteristic coding pattern is a color translucent member, the color of the coding point is a first series of colors, the color of the characteristic point is a second series of colors, and the first series of colors is different from the second series of colors.

4. The method according to claim 3, characterized in that The color light-transmitting member is a color filter, a color transparent sticker, or a color transparent acrylic plate.

5. The method according to claim 2, characterized in that The shape of the encoding point is a first shape, and the shape of the feature point is a second shape, and the second shape is different from the first shape.

6. The method according to claim 1, characterized in that The acquiring of the captured image containing the characteristic coding pattern comprises: An indoor image is collected, and it is determined whether the indoor image contains the multiple feature points. If so, it is determined that the indoor image is a captured image containing the feature coding pattern.

7. An indoor positioning device, characterized in that: include: A characteristic coding pattern is provided indoors, wherein the characteristic coding pattern comprises a plurality of coding points and a plurality of characteristic points; An image detector, used to obtain a captured image containing the characteristic coding pattern and determine a shooting focal length of the captured image; An angle detector, used to obtain a shooting pitch angle and a shooting roll angle of the shot image; A feature code identifier, which is in communication connection with the image detector, and is used to identify a plurality of code points in the feature code pattern on the captured image, and determine the spatial coordinates of each feature point in the feature code pattern in the room according to the plurality of code points in the feature code pattern, and obtain the projection coordinates of each feature point on the image detector that captured the captured image; A locator is communicatively connected with the image detector, the angle detector, and the feature code identifier, and is used to obtain indoor positioning information of the image detector based on the shooting focal length, the shooting pitch angle, the shooting roll angle, and the spatial coordinates and projection coordinates of each feature point using a monocular camera imaging principle; The identifying of a plurality of coding points in the characteristic coding pattern on the captured image, and determining the spatial coordinates of each characteristic point in the characteristic coding pattern in the room according to the plurality of coding points in the characteristic coding pattern, comprises: Acquire a first correspondence between the identity information of the characteristic coding pattern and a plurality of coding points in the characteristic coding pattern, and a second correspondence between the identity information of the characteristic coding pattern and the spatial coordinates of each characteristic point on the characteristic coding pattern in the room; Identify a plurality of coding points in the characteristic coding pattern on the captured image, and determine identity information of the characteristic coding pattern on the captured image based on the first corresponding relationship; Based on the second corresponding relationship, determining the spatial coordinates of each feature point in the feature coding pattern on the captured image in the room according to the identity information of the feature coding pattern on the captured image; The plurality of feature points include a first feature point, a second feature point and a third feature point; The method of acquiring indoor positioning information of the image detector based on the shooting focal length, the shooting pitch angle, the shooting roll angle, and the spatial coordinates and projection coordinates of each of the feature points by adopting the imaging principle of a monocular camera includes: Based on the projection coordinates of the first feature point , the projection coordinates of the second feature point , the projection coordinates of the third feature point , the shooting pitch angle , the shooting roll angle , the shooting focal length , calculate the compensation coordinates of the first feature point according to formula 1 , the compensation coordinates of the second feature point And the compensation coordinates of the third feature point , Formula 1; Based on the spatial coordinates of the first feature point , the spatial coordinates of the second feature point , the compensation coordinates of the first feature point , the compensation coordinates of the second feature point , calculate the shooting azimuth angle of the captured image according to Formula 2 , Formula 2: Based on the compensation coordinates of the first feature point , the compensation coordinates of the second feature point, The compensation coordinates of the third feature point And the shooting azimuth , calculate the re-compensation coordinates of the first feature point according to formula 3 , the re-compensation coordinates of the second feature point , the re-compensation coordinates of the third feature point , Formula 3: Based on the spatial coordinates of the first feature point , the spatial coordinates of the second feature point , the spatial coordinates of the third feature point , the re-compensation coordinates of the first feature point , the re-compensation coordinates of the second feature point , the re-compensation coordinates of the third feature point , calculate the shooting height of the captured image according to Formula 4 , Formula 4: Wherein, z is the Z-axis coordinate of the first feature point, the second feature point, and the third feature point; Based on the spatial coordinates of the first feature point , the spatial coordinates of the second feature point , the spatial coordinates of the third feature point and the shooting height of the captured image , solve formula 5 to obtain the spatial coordinates of the image detector in the room , Formula 5: in: 。 8. The device according to claim 7, characterized in that The characteristic coding pattern is arranged on the lighting source in the room.

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