AR real-time positioning method and system

Abstract

The present invention provides an AR real-time positioning method. First, a relative relationship between a tracking recognition map and a positioning map in a world coordinate system is established to obtain the recognition map orientation of the tracking recognition map; then the tracking recognition map is scanned to obtain map data, and then the positioning map is corresponded to the AR coordinate system, and the center point of the map data is obtained according to the recognition map orientation; then, according to the geographic positioning of the client and the center point of the map data, the AR real-time positioning data of the client is determined, so as to solve the problems of weak versatility, insufficient positioning accuracy, lack of communication capability and poor anti-interference capability of relying solely on GPS signals or WIFI signals. Rapid positioning can be achieved by only scanning the tracking recognition map, which not only reduces the hardware cost but also improves the efficiency.

Description

Technical Field

[0001] The present invention relates to the field of computer vision, and more specifically, to an AR real-time positioning system method and system. Background Art

[0002] As we become more and more dependent on mobile devices, the adoption of augmented reality technology will begin to rise. As the vast majority of consumers own smartphones and already carry them with them, the development of AR software will be the way forward, making it a convenient medium to bring AR to almost every consumer. At present, traditional navigation technology relies on receiving devices that can receive external signals such as GPS, WIFI, Bluetooth signals, etc. These devices have the disadvantages of high software and hardware costs, low versatility, insufficient positioning accuracy, no communication capabilities, and poor anti-interference capabilities. Combining AR technology with navigation technology can not only meet the requirements of high precision, high versatility, and strong communication capabilities required for navigation functions, but also reduce the development and maintenance costs of software and hardware, and has a good development prospect.

[0003] Therefore, there is an urgent need for an AR real-time positioning method and system based on AR image tracking and positioning and inertial ranging, which can realize the superposition of real scenes and map data. Summary of the invention

[0004] In view of the above problems, the purpose of the present invention is to provide an AR real-time positioning method and system to solve the problem that the current traditional real-time positioning navigation technology relies on a receiving device that can receive external signals such as GPS, WIFI, Bluetooth signals, etc. These devices have the problems of high software and hardware costs, low versatility, insufficient positioning accuracy, no communication capability, and poor anti-interference ability.

[0005] The present invention provides an AR real-time positioning method, characterized by comprising:

[0006] Establishing a relative relationship between the tracking recognition map and the positioning map in the world coordinate system to obtain the recognition map orientation of the tracking recognition map;

[0007] Scanning the tracking identification map to obtain map data; wherein the map data is the relative position of the tracking identification map in the AR coordinate system;

[0008] Matching the positioning map with the AR coordinate system, and acquiring the center point of the map data according to the orientation of the identification map;

[0009] The AR real-time positioning data of the client is determined according to the geographic positioning of the client and the center point of the map data.

[0010] Preferably, the process of establishing the relative relationship between the tracking and identification map and the positioning map in the world coordinate system includes:

[0011] The tracking identification map is placed in the positioning map; wherein the positioning map is a CAD map in the world coordinate system.

[0012] Preferably, the process of scanning the tracking identification map to obtain map data includes:

[0013] pre-connecting the scanning device and the processor by matching instructions;

[0014] Scanning the tracking identification diagram by the scanning device to form scanning data;

[0015] The processor acquires the scan data, and performs AR data conversion on the scan data to form the map data.

[0016] Preferably, the process of obtaining the center point of the map data according to the orientation of the identification map includes:

[0017] Acquire the relative direction between the positioning map and the tracking recognition map according to the orientation of the recognition map;

[0018] The map data is rotated according to the relative direction so that the orientation of the map data is consistent with the orientation of the real scene.

[0019] Preferably, before determining the AR real-time positioning data of the client, the method further includes: establishing an AR anchor point based on the AR coordinate system.

[0020] Preferably, the process of determining the AR real-time positioning data of the client includes:

[0021] Attaching the AR anchor point to an object in the real scene to form a physical coordinate;

[0022] The physical coordinates are translated and rotated by equal amounts in the AR coordinate system to form AR data of the environment in which the client is located.

[0023] Preferably, the process of determining the AR real-time positioning data of the client further includes a process of performing inertial ranging, and the process of inertial ranging includes:

[0024] Receive all WIFI signals through the WIFI receiver;

[0025] Acquire a reflected signal based on all the WIFI signals;

[0026] Determine, according to the primary reflection signal, a change in the reflection path length generated by the client during movement;

[0027] The distance traveled by the client is estimated according to the change in the reflection path length.

[0028] The present invention also provides an AR real-time positioning system, which is characterized in that it is used to implement the aforementioned AR real-time positioning method, including:

[0029] An orientation acquisition unit, used for establishing a relative relationship between the tracking and recognition map and the positioning map in the world coordinate system to acquire the recognition map orientation of the tracking and recognition map;

[0030] A map data generating unit, configured to scan the tracking identification map to obtain map data; wherein the map data is a relative position of the tracking identification map in an AR coordinate system;

[0031] A center point determination unit, used to correspond the positioning map to the AR coordinate system and obtain the center point of the map data according to the orientation of the identification map;

[0032] The real-time positioning unit is used to determine the AR real-time positioning data of the client according to the geographic positioning of the client and the center point of the map data.

[0033] Preferably, the map data generating unit comprises a scanning device and a processor, wherein:

[0034] The scanning device is used to scan the tracking identification map to form scanning data;

[0035] The processor is used for performing AR data conversion on the scanned data to form map data.

[0036] Preferably, the real-time positioning unit comprises an anchor point attachment module, wherein:

[0037] The anchor point attachment module is used to establish an AR anchor point based on the AR coordinate system, and attach the AR anchor point to an object in the real scene to form a physical coordinate;

[0038] Furthermore, the anchor point attachment module is connected to the processor.

[0039] It can be seen from the above technical scheme that the AR real-time positioning method and system provided by the present invention first establish a relative relationship between the tracking identification map and the positioning map to obtain the orientation of the identification map; then scan the tracking identification map to obtain map data, and then correspond the positioning map to the AR coordinate system, and obtain the center point of the map data according to the orientation of the identification map, and then obtain the client's geographic positioning, and combine the client's geographic positioning with the center point of the map data to form the client's AR real-time positioning data, which solves the problems of low versatility, insufficient positioning accuracy, lack of communication capability, and poor anti-interference capability of relying solely on GPS signals or WIFI signals. Rapid positioning can be achieved by only scanning the tracking identification map, which not only reduces the hardware cost but also improves efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] By referring to the following description in conjunction with the accompanying drawings, and with a more comprehensive understanding of the present invention, other objects and results of the present invention will become more clear and easy to understand. In the accompanying drawings:

[0041] Figure 1 is a flowchart of an AR real-time positioning method according to an embodiment of the present invention;

[0042] Figure 2 An example of calculating the position of a map data center in an AR coordinate system according to an embodiment of the present invention;

[0043] Figure 3 An example of adjusting the orientation of map data according to an embodiment of the present invention;

[0044] Figure 4 Schematic diagram of an AR real-time system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0045] Existing real-time positioning and navigation technologies rely on receiving devices that can receive external signals such as GPS, WIFI, Bluetooth signals, etc. These devices have the problems of high software and hardware costs, low versatility, insufficient positioning accuracy, lack of communication capabilities, and poor anti-interference capabilities.

[0046] In view of the above problems, the present invention provides an AR real-time positioning method, and the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0047] In order to illustrate the AR real-time positioning method provided by the present invention, Figure 1 The AR real-time positioning method of the embodiment of the present invention is exemplarily indicated; Figure 2 The AR real-time positioning system according to the embodiment of the present invention is exemplarily illustrated.

[0048] The following description of exemplary embodiments is merely illustrative in nature and is by no means intended to limit the invention and its application or use. Technologies and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate circumstances, the technologies and devices should be considered as part of the specification.

[0049] like Figure 1 As shown, the AR real-time positioning method of the embodiment of the present invention provided by the present invention includes:

[0050] S110: establishing a relative relationship between the tracking recognition map and the positioning map in the world coordinate system to obtain the recognition map orientation of the tracking recognition map;

[0051] S120: Scan the tracking identification map to obtain map data; wherein the map data is the relative position of the tracking identification map in the AR coordinate system;

[0052] S130: matching the positioning map with the AR coordinate system, and acquiring the center point of the map data according to the orientation of the recognition map;

[0053] S140: Determine AR real-time positioning data of the client according to the geographic positioning of the client and the center point of the map data.

[0054] like Figure 1 In the embodiment shown, in step S110, the process of establishing a relative relationship between the tracking identification map and the positioning map in the world coordinate system includes: placing the tracking identification map in the positioning map. The specific form of the positioning map is not specifically limited and can be an image generation or image display background with a map-carrying function in any world coordinate system. In the present embodiment, the positioning map is a CAD map in the world coordinate system. The CAD map is concise and clear, so that the scanning device can scan the tracking identification map placed on the CAD map.

[0055] like Figure 1 As shown, in step S120, the process of scanning and tracking the identification map to obtain map data includes:

[0056] S121: pre-connecting the scanning device and the processor through a matching instruction;

[0057] S122: Scanning the tracking identification image by a scanning device to form scanning data;

[0058] S123: The processor obtains the scanned data and performs AR data conversion on the scanned data to form map data.

[0059] In step S121, the specific form of the matching instruction is not limited here. In this embodiment, the process of pre-connecting the scanning device and the processor through the matching instruction is: connecting the scanning device and the processor through a data transmission wire, presetting a connection button, and turning on the button when a scanning and analysis operation is required, so that the processor sends a matching instruction to the scanning device, and the scanning device starts scanning according to the matching instruction, and transmits the scanning data to the processor, so that the processor converts the scanning data into AR data to form map data.

[0060] exist Figure 1 In the illustrated embodiment, in step S130, the positioning map is matched with the AR coordinate system, and the center point of the map data is obtained according to the orientation of the identification map, and the process includes:

[0061] S131: Acquire the relative direction between the positioning map and the tracking recognition map according to the orientation of the recognition map;

[0062] S132: Rotate the map data according to the relative direction so that the orientation of the map data is consistent with the orientation of the real scene.

[0063] exist Figure 1 In the embodiment shown, step S140 is to first obtain the geographic location of the client, and combine the geographic location of the client with the center point of the map data to form the AR real-time location data of the client. Before step S140, that is, before determining the AR real-time location data of the client, it also includes establishing an AR anchor point based on the AR coordinate system;

[0064] The process of determining the AR real-time positioning data of the client in step S140 includes:

[0065] S141: attaching the AR anchor point to an object in the real scene in the world coordinate system to form a physical coordinate;

[0066] S142: performing equal translation and equal rotation on the physical coordinates in the AR coordinate system to form AR data of the environment where the client is located. In this embodiment, the processor acquires the physical coordinates, and performs equal translation and equal rotation on the physical coordinates to form AR data of the environment where the client is located.

[0067] In addition, the process of forming the AR real-time positioning data of the client further includes S143: performing an inertial ranging process, and the inertial ranging process includes:

[0068] S143-1: Receive all WIFI signals through the WIFI receiver;

[0069] S143-2: Obtain a reflected signal based on all WIFI signals;

[0070] S143-3: Determine, according to the primary reflection signal, a change in the reflection path length generated by the client during movement;

[0071] S143-4: Estimate the distance traveled by the client based on the change in the length of the reflection path. It should be noted that step S143 is not strictly executed after step S141 and step S142, but is interspersed in the entire step S140. Specifically, when the client is moving, there will inevitably be drift errors caused by the movement of the client when the AR anchor point is attached to the object in the real scene to form physical coordinates, and step S143 is dedicated to correcting the drift errors generated in step S141.

[0072] like Figure 2As shown, in a specific embodiment of the present invention, the position of the map data center in the AR coordinate system is calculated, and the coordinates of the tracking recognition map in the AR coordinate system are assumed to be Positon1=vector3(x1, y1, z1), and the relative position of the tracking recognition map in the map data is Positon2=vector3(x2, y2, z2). Then, according to the corresponding relationship between the tracking recognition map and the positioning map, the position Position3 of the map data center in the AR coordinate system can be inferred, as shown in the following Table 1:

[0073]

[0074] Table 1

[0075] like Figure 3 As shown, in this specific embodiment, after obtaining the center point of the map data, the orientation of the map data is adjusted. In order to make the orientation of the map data in the AR coordinate system coincide with the orientation of the actual map data, the orientation of the map data in the AR coordinate system can be rotated to the orientation shown in the attached figure after each positioning. Moreover, since the map data is displaced in the AR coordinate system where the tracking recognition map is located, its orientation after displacement is the same as the orientation where the tracking recognition map is located. The center of the displaced map data is rotated according to the orientation where the tracking recognition map is located. The specific calculation is shown in Table 2 below:

[0076]

[0077] Table 2

[0078] It can be seen from the above implementation modes that the AR real-time positioning method provided by the present invention first needs to establish a relative relationship between the tracking identification map and the positioning map to obtain the identification map orientation; then scan the tracking identification map to obtain map data, and then correspond the positioning map to the AR coordinate system, and obtain the center point of the map data according to the identification map orientation, and then obtain the client's geographic positioning, and combine the client's geographic positioning with the center point of the map data to form the client's AR real-time positioning data, which solves the problems of low versatility, insufficient positioning accuracy, lack of communication capability, and poor anti-interference capability of relying solely on GPS signals or WIFI signals. Rapid positioning can be achieved by only scanning the tracking identification map, which not only reduces hardware costs but also improves efficiency.

[0079] like Figure 4 As shown, the present invention also provides an AR real-time positioning system 100, which is used to implement the aforementioned AR real-time positioning method, and includes a position acquisition unit 101, a map data generation unit 102, a center point determination unit 103, and a real-time positioning unit 104, wherein:

[0080] The orientation acquisition unit 101 is used to establish a relative relationship between the tracking and recognition map and the positioning map in the world coordinate system to obtain the recognition map orientation of the tracking and recognition map;

[0081] A map data generating unit 102 is used to scan the tracking and identification map to obtain map data; wherein the map data is the relative position of the tracking and identification map in the AR coordinate system;

[0082] A center point determination unit 103, used to correspond the positioning map to the AR coordinate system and obtain the center point of the map data according to the orientation of the recognition map;

[0083] The real-time positioning unit 104 is used to determine the AR real-time positioning data of the client according to the geographic positioning of the client and the center point of the map data.

[0084] The map data generating unit 102 includes a scanning device 102-1 and a processor 102-2, wherein:

[0085] The scanning device 102-1 is used to scan the tracking recognition image to form scanning data;

[0086] The processor 102 - 2 is used to acquire scan data and perform AR data conversion on the scan data to form map data.

[0087] The real-time positioning unit 104 includes an anchor point attachment module 104-1, wherein:

[0088] The anchor point attachment module 104-1 is used to establish an AR anchor point based on the AR coordinate system, and attach the AR anchor point to an object in the real scene to form a physical coordinate; and the anchor point attachment module 104-1 is connected to the processor 102-2. The specific implementation details are as described in the above-mentioned AR real-time positioning method and are not repeated here.

[0089] It can be seen from the above implementation modes that the AR real-time positioning system provided by the present invention first establishes a relative relationship between the tracking identification map and the positioning map to obtain the identification map orientation; then scans the tracking identification map to obtain map data, and then corresponds the positioning map to the AR coordinate system, and obtains the center point of the map data according to the identification map orientation, and then obtains the client's geographic positioning, and combines the client's geographic positioning with the center point of the map data to form the client's AR real-time positioning data, which solves the problems of low versatility, insufficient positioning accuracy, lack of communication capability, and poor anti-interference capability of relying solely on GPS signals or WIFI signals. Rapid positioning can be achieved by only scanning the tracking identification map, which not only reduces the hardware cost but also improves efficiency.

[0090] As described above, the AR real-time positioning method and system proposed in accordance with the present invention are described by way of example with reference to the accompanying drawings. However, those skilled in the art should understand that various improvements can be made to the AR real-time positioning method and system proposed in the present invention without departing from the content of the present invention. Therefore, the protection scope of the present invention should be determined by the content of the attached claims.

Claims

1. An AR real-time positioning method, characterized in that: include: Establishing a relative relationship between the tracking recognition map and the positioning map in the world coordinate system to obtain the recognition map orientation of the tracking recognition map; Scanning the tracking identification map to obtain map data; wherein the map data is the relative position of the tracking identification map in the AR coordinate system; Matching the positioning map with the AR coordinate system, and acquiring the center point of the map data according to the orientation of the identification map; The AR real-time positioning data of the client is determined according to the geographic positioning of the client and the center point of the map data.

2. The AR real-time positioning method according to claim 1, characterized in that: The process of establishing the relative relationship between the tracking recognition map and the positioning map in the world coordinate system includes: The tracking identification map is placed in the positioning map; wherein the positioning map is a CAD map in the world coordinate system.

3. The AR real-time positioning method according to claim 2, characterized in that: The process of scanning the tracking identification map to obtain map data includes: pre-connecting the scanning device and the processor by matching instructions; Scanning the tracking identification diagram by the scanning device to form scanning data; The processor acquires the scan data, and performs AR data conversion on the scan data to form the map data.

4. The AR real-time positioning method according to claim 3, characterized in that: The process of obtaining the center point of the map data according to the orientation of the identification map includes: Acquire the relative direction between the positioning map and the tracking recognition map according to the orientation of the recognition map; The map data is rotated according to the relative direction so that the orientation of the map data is consistent with the orientation of the real scene.

5. The AR real-time positioning method according to claim 4, characterized in that: Before determining the AR real-time positioning data of the client, the method further includes: An AR anchor point is established based on the AR coordinate system.

6. The AR real-time positioning method according to claim 5, characterized in that: The process of determining the AR real-time positioning data of the client includes: Attaching the AR anchor point to an object in the real scene to form a physical coordinate; The physical coordinates are translated and rotated by equal amounts in the AR coordinate system to form AR data of the environment in which the client is located.

7. The AR real-time positioning method according to claim 6, characterized in that: The process of determining the AR real-time positioning data of the client also includes a process of performing inertial ranging, and the process of inertial ranging includes: Receive all WIFI signals through the WIFI receiver; Acquire a reflected signal based on all the WIFI signals; Determine, according to the primary reflection signal, a change in the reflection path length generated by the client during movement; The distance traveled by the client is estimated according to the change in the reflection path length.

8. An AR real-time positioning system, characterized in that: The method for implementing the AR real-time positioning method according to any one of claims 1 to 7 comprises: An orientation acquisition unit, used for establishing a relative relationship between the tracking and recognition map and the positioning map in the world coordinate system to acquire the recognition map orientation of the tracking and recognition map; A map data generating unit, configured to scan the tracking identification map to obtain map data; wherein the map data is a relative position of the tracking identification map in an AR coordinate system; A center point determination unit, used to correspond the positioning map to the AR coordinate system and obtain the center point of the map data according to the orientation of the identification map; The real-time positioning unit is used to determine the AR real-time positioning data of the client according to the geographic positioning of the client and the center point of the map data.

9. The AR real-time positioning system according to claim 8, characterized in that: The map data generating unit includes a scanning device and a processor, wherein: The scanning device is used to scan the tracking identification map to form scanning data; The processor is used for performing AR data conversion on the scanned data to form map data.

10. The AR real-time positioning system according to claim 9, characterized in that: The real-time positioning unit includes an anchor point attachment module, wherein: The anchor point attachment module is used to establish an AR anchor point based on the AR coordinate system, and attach the AR anchor point to an object in the real scene to form a physical coordinate; the AR data of the environment where the client is located is formed by performing equal translation and equal rotation on the physical coordinate in the AR coordinate system; Furthermore, the anchor point attachment module is connected to the processor.

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