Graphic marker and navigation method based on it

Abstract

A two-dimensional, at least two-color graphic marker in the background color and at least in one main color, including: a two-dimensional, rectangular grid of pixels (cells) of at least 7 x 8 cells with an additional at least one cell thick border in the background color, a search symbol (1) placed in the main corner of the marker, consisting of 2 x 2 cells in the background color, surrounded by a one cell thick ring in the main color, which is surrounded by a one cell thick ring in the background color, and positioning points (type 2a, 2b or 2c) placed in the remaining three corners of the marker, consisting, for each corner, of any of the following: (i) one cell in the main color, surrounded by a one cell thick ring in the background color (2a) or, (ii) two cells placed next to each other on the first code axis (horizontal) in the main color, surrounded by a one cell thick ring in the background color (2b) or, (iii) two cells placed next to each other on the second code axis (vertical) in the main color, surrounded by a once cel thick ring in the background color (2c). The marker according to the invention also comprises data area (3) consisting of the remaining grid cells not used by the search symbol (1) and positioning points (type 2a, 2b or 2c) in which binary information is encoded by means of the background color and the main color.

Description

[0001] Graphic marker and navigation method based on it

[0002] The subject-matter of the invention is a graphic marker and a system and method of navigation based on a graphic marker to be used in particular by visually impaired persons, preferably for the purposes of navigation inside public buildings, inside apartments, as well as, among others, in parks, on educational trails in forests or, for example, for the purposes of marking waste segregation bins.

[0003] In the state of the art, various methods of navigation inside buildings are known. Public places offer several possibilities for finding specific places in a given area.

[0004] In case of sighted people, those possibilities include maps, plans, and signposts. There are also Wayfinders - known from shopping malls - where at the entrance we can enter the name of the store on a large touch screen and a path to it will be designated and suggested. Such solutions are not easily accessible (usually one or two such devices are installed per floor) and therefore do not allow navigation from any selected place in the store. In order to locate the store, it is necessary to find the device (Wayfinder) first.

[0005] For visually impaired people typhlographic plans are installed - i.e. room plans that allow them to examine the plan by touching it. Their downside is that, firstly, visually impaired people are unable to get to them and, secondly, they are very difficult to interpret (visually impaired people are rarely able to use them or it requires long hours of training).

[0006] There are also solutions based on beacons, but they require a lot of beacons. Theoretically such solutions work in such a way that beacons are densely distributed in a facility (spanned no more than several meters from each other). Beacons broadcast their ID assigned to a specific location. The user application processes information about received signals, that is about the ID and the strength of the received signal. As a result, an approximate position can be determined on the basis of triangulation. Unfortunately, in real buildings, as a result of interference, echoes and other physical phenomena, it often becomes very difficult to determine such a position. In addition, solutions based on beacons are expensive, require battery power (batteries must be replaced) and are not that precise.

[0007] In Europe, the NaviLens solution is also known, which is based on graphic, square multi-color codes described in patent no. EP3561729. This is a long-range high density visual marker system. The solution benefits from a conventional long-range marker location system. The proposal focuses on the information coding system, which in this case is a color code with four statuses, duplicating the code density compared to conventional black and white systems. The success of this technique lies largely in the proposed color processing methods. In this solution, a dense long-range visual marker comprises: a black frame against a white background; a quadrangular grid contained within the said frame with the dimensions of 5x5, 7x7, 9x9, or 11 xl 1 ; and wherein the grid is divided into longitudinal rows and vertical columns that form multiple cells, each cell corresponding to a different piece of data; and wherein the grid is composed of elements of four different color tones, the four-color tones being distinguishable from each other and forming a color palette. This indicator is characterized in that, further, each of the four cells forming the corners of the grid contains a different color tone of those four color shades, such that the darkest element is considered to be the last value forming the color palette; and wherein the central cell of the grid defines the size of the grid; and wherein the cells corresponding to the middle row and column, except for the central cell, are used for cyclic redundancy checking; and wherein the remaining cells forming the grid are elements intended for a message that can be conveyed by the visual marker. It is preferred in the invention for the four-color shades to correspond to the combination of cyan, magenta, yellow and black.

[0008] Although the aforementioned solution can be used for navigation purposes, it has many disadvantages, which is why it is not versatile and it is difficult to adapt it to every user, especially to a visually impaired one. The markers described in EP3561729 are squareshaped and cannot be "stretched". The lack of the possibility to "stretch" them results from the fact that the pixels of the graphic code are square-shaped, and therefore if the code / pixels are viewed at an angle - according to the rules of perspective - the pixels become increasingly narrower, which makes it difficult, and sometimes even impossible, to read the marker. In addition, multi-color markers are very sensitive to the light in the room, they cannot be used in variable lighting, so sometimes reading them is difficult and may prevent the correct reading of information.

[0009] In the case of the aforementioned solution, it is impossible to inform the user that they are approaching an object or to guide them to the main entrance, and the application only works when the screen is on.

[0010] In the state of the art, there are also other Bluetooth low energy (BLE) markers provided with sound functions, but it is not possible to use them in systems other than dedicated applications. These solutions do not work in the background, which makes it difficult for visually impaired people to use them.

[0011] However, they do not have an open API (application programming interface) - i.e. an interface allowing, in this case, to run the device, so they only work with a dedicated application.

[0012] Other markers (codes) are also known in the state of the art, not necessarily related to navigation, but their structure / appearance makes it possible for them to be used as markers in the solution according to the invention, especially by visually impaired people. Plenty of codes are optimized for enabling readout of a large marker in the middle of the screen, which is why in the middle of QR code readers or other readers there is often a "frame" where the marker must be placed to be read correctly. This need to "fit" the marker to the reading device prevents visually impaired people from using these codes which usually consist of standard elements such as shapes that generate appropriate contours. A QR code is characterized by three squares in the corners of the code, which has a black square inside a black square separated by a white pixel. Because there are three squares, you can easily determine where the beginning and end of the code are.

[0013] The codes / markers known from the state of the art have pixels (cells) of equal size with an aspect ratio of 1 :1 , and the arrangement of the individual elements of the marker makes it

[0014] The purpose of the solution according to the invention is to develop a graphic marker that could be read from a large distance, at any angle (even almost 90 degrees), even in the case when there are many markers that are read out at once. The purpose of the solution according to the invention is to provide a marker / code, where the reading of information would not be disturbed / difficult due to lighting changes. The purpose of the invention is also to develop a method of navigation using a graphic marker(s) and to develop a navigation system.

[0015] The purpose of the solution according to the invention is also to make it possible to inform the user that they are approaching the object and to guide them to the main entrance. It is also important that the solution according to the invention does not require the screen to be turned on in order to be working.

[0016] According to the invention, a two-dimensional, a graphic marker with at least two colors comprising a background and at least one main color is characterized in that it comprises:

[0017] • a two-dimensional, rectangular grid of cells (pixels) with dimensions of at least 7 x 8 cells with an additional border in the background color with a thickness of at least one cell,

[0018] • a search symbol placed in the main corner of the marker, consisting of 2 x 2 cells in the background color, surrounded by a one cell thick ring in the main color, which is surrounded by a one cell thick ring in the background color,

[0019] • positioning points placed in the remaining three corners of the code, consisting arbitrarily for each corner: i. of one cell in the main color, surrounded by a one cell thick ring in the background color or, ii. of two cells placed next to each other on the first axis of the code (horizontal) in the main color, surrounded by a ring with thickness of one cell in the background color or, iii. of two cells placed next to each other on the second axis of the code (vertical) in the main color, surrounded by a one cell thick ring in the background color,

[0020] • a data area consisting of the remaining grid cells (pixels) not used by the search symbol and positioning points, in which binary information is encoded using the background color and the main color.

[0021] This arrangement of cells provides a lot of possibilities to read the image, at a large angle, even close to 90 degrees.

[0022] Preferably a two-dimensional graphic marker is characterized by the fact that it consists of pixels (cells) of identical size, where the cells (pixels) are rectangle shaped.

[0023] The rectangular shape of each cell (pixel) further improves the "image stretching", has a very good effect on the quality of reading of graphic markers, especially when scanning the image at an angle close to 90 degrees.

[0024] Preferably, the two-dimensional graphic marker is characterized in that the cells (pixels) are in the shape of a rectangle with side proportions of 1:1.1 to 1:2.5.

[0025] Preferably, the two-dimensional graphic marker is characterized in that the cells are in the shape of a rectangle with side proportions of 1 :1.2.

[0026] Preferably, the two-dimensional graphic tag is characterized in that it consists of cells of identical size, wherein the cells / pixels are square shaped of a square.

[0027] Preferably, the two-dimensional graphic marker is characterized in that it consists of a two- dimensional, rectangular grid of pixels (cells) with dimensions of 7 x 8 cells.

[0028] Preferably, the two-dimensional graphic marker is characterized in that it consists of a two- dimensional, rectangular grid of pixels (cells) with dimensions of 9 x 10 cells.

[0029] Preferably, the two-dimensional graphic marker is characterized in that it is two-colored.

[0030] Preferably, the two-dimensional graphic marker is characterized in that the main color is black and the background color is white.

[0031] It is also possible to use a marker in other colors, for example the background can be in the color of the wall on which the marker is placed. It is beneficial to use colors with high contrast, especially white-blue, white-green, yellow-black. Preferably, the two-dimensional graphic marker is characterized in that the search symbol is located in the upper left comer of the marker.

[0032] The solution based on the invention also provides one of the possible methods of navigation (i.e. detecting and decoding the graphic code / graphic marker). Detection and decoding of the graphic code consists of the following steps of:

[0033] A. searching for the search symbol placed in the main corner of the marker. The search symbol consists of 2 x 2 cells in the background color surrounded by a one cell thick ring in the main color, which is surrounded by a one cell thick ring in the background color,

[0034] B. finding positioning points in the remaining three corners of the graphic code using perspective transformations based on the shape and proportions of the search symbol,

[0035] C. determining one of 27 marker types based on the positioning points present in the three corners of the graphic code,

[0036] D. decoding binary data from grid cells (dependent on the marker type) based on perspective transformations according to the positioning points to determine the center points of the grid cells and interpret their color (background / main) as binary data,

[0037] The data area includes an area depending on the type of code / graphic marker. Once the graphic code / graphic marker is found, the algorithm decodes the binary data using positioning points of type 2a, 2b or 2c and the search symbol, by examining the color of the individual cells that make up the binary data.

[0038] The solution according to the invention provides 27 marker types. Since in each corner there can be a positioning point of type 2a, 2b or 2c, which gives 3 possibilities and we have 3 corners, which gives 3 cubed 3 possibilities, that is 27 in total.

[0039] Depending on different positioning points (either 1 pixel, or 2 vertical pixels, or 2 pixels horizontally) we can differentiate the type of code. We write the code values binarily, i.e. we have from 15 to 19 pixels with information, which gives between 2A15 and 2A19 possible values - from 32768 (for codes with two-pixel positioning points) to 524288 (for one- pixel positioning points).

[0040] This method provides us with one of the possible navigation options, that is detecting and decoding the graphic code. At this stage, the information encoded in the marker is decoded. For example, we receive a specific number, according to which any information is encoded. It may concern information about the location of the office, or another one that does not require further processing and further, more detailed navigation. It may also be information about a specific product.

[0041] Preferably, the method based on the invention is characterized in that the fact of overlap of the coherent components constituting elements of the search symbol is used to detect the search symbol.

[0042] The coherent components are defined by the coherent component of the inner 2 x 2 cell area in the background color and the coherent component of the 1 cell thick ring area in the main color surrounding the inner 2 x 2 area in the background color.

[0043] Preferably, the navigation method according to the invention is characterized in that after the step of detecting and reading of the graphic code as indicated above, the position and orientation of the graphic code in space against the camera are calculated in the following stages:

[0044] A. determining of the position of four elements of the graphic marker / code, i.e. the center of the search symbol and the centers of three positioning points in the corners on the image constituting the algorithm's input,

[0045] B. using the database of physical representations of graphic markers / codes to determine the dimensions of the physical representation of the graphic marker / code based on the type of graphic marker / code and binary data,

[0046] C. determining of the actual (physical) positions relative to the center of the graphic marker / code of the four elements of the physical representation of the graphic marker / code listed in point A based on the data obtained in point B,

[0047] D. determining of the position and orientation of the graphic marker / code in the physical system of the camera using any standard perspective calculation algorithm based on the object's characteristic points obtained in points A and C, using the parameters of the camera as the source of the image constituting the algorithm's input.

[0048] Preferably, the method according to the invention is characterized in that it uses geolocation or another method of determining the approximate location where the photograph constituting the input to the algorithm was taken.

[0049] For example, the algorithm obtains additional data about the marker from the server - thanks to geolocation, it allows to differentiate between two markers with the same value but used in multiple locations (e.g. a shopping mall in one city and, e.g. a healthcare clinic in another city) - as a result, the entire system has a much larger pool of values to be used. This allows to narrow the scope of searching of the database of physical representations of graphic codes to physical graphic codes actually occurring near the location where the photo was taken.

[0050] The solution according to the invention also provides a navigation system including:

[0051] • at least one graphic marker according to the invention

[0052] • at least one Beacon, i.e. an electronic device equipped with a BLE module, a loudspeaker and PowerLED diodes

[0053] • a device detecting BLE markers and / or enabling the reading of graphic markers, wherein preferably the device detects BLE markers and / or enables the reading of graphic markers using an application.

[0054] The application(s) detect(s) BLE markers while running in the background, allowing the application to be used even when the screen is off, and / or also enable reading of graphic markers, and thus enable(s) precise positioning relative to them. This allows for a precise mapping of the user's location, e.g. on a map of the facility.

[0055] The solution based on the invention has many advantages.

[0056] The rectangular shape of the marker according to the invention and the shape and size of the individual elements on the marker eliminate the problem of "stretching" the marker and thus allows for reading of the information contained in it from any distance and at any angle to the marker (even up to 90 degrees). The possibility of "stretching the code" makes it more visible at an angle. An additional advantage that can enhance the stretching effect is the use of rectangular cells inside the marker.

[0057] In addition, the use of a fast algorithm that searches for unique features of the marker in high- resolution photos makes that marker more visible from an angle. An additional advantage is the ability to "stretch the code" resulting from the marker's structure. The concentric squares of the search symbol are also of great importance.

[0058] Graphic markers according to the invention can have any fixed width to height proportions, with the preferred variant being the "stretched width" one. Thus, seeing the marker from a wide angle allows you to read it correctly.

[0059] The solution according to the invention allows for calculating of the position and orientation against the camera.

[0060] The marker has a search symbol and positioning points. The algorithm retrieves from the server information about the dimensions of the marker. Knowing where the points are in the photo and the actual distance between them, we are able to determine the distance and orientation against them.

[0061] The most unique feature of the design is the ability to stretch the code sideways. This possibility provides the solution according to the invention with unique reading properties, adapted to many external and location conditions. When we see the marker at a large angle, we can read it from a large distance. This is particularly important, for example, in narrow corridors, where the angles at which we see the markers are very large.

[0062] In the solution according to the invention, there is one positioning symbol, and then the algorithm is responsible for finding the appropriate orientation.

[0063] In addition, the detection algorithm does not assume specific proportions of the search symbol but is based on concentricity, as a result of which it can be freely stretched, and the algorithm remains the same.

[0064] Thanks to the presence of beacons and geolocation zones, the solution according to the invention provides the possibility of informing the user that they are approaching the object and also allows guiding them to the main entrance. In addition, the application does not require the screen to be turned on, because it uses the possibilities of background location and BLE scanning in the background.

[0065] Among other things, the solution according to the invention enables precise spatial positioning based on just one marker. It is also possible to place markers in such a way that more than one of them fits in the photo. Thanks to the use of graphic codes, the system does not require power supply and is easy to maintain. In the event of damage to the sticker, it is enough to stick the same sticker in the same place. Connection to the server allows for current / dynamic updating of the content embedded in the marker - that is, the application can inform not only that, for example, the user is in front of office 105, but also which doctor is currently working there. It can also read the current weather forecast or time. An additional advantage is the use of a mix of technologies. In addition to graphic markers, it uses Beacons, which allow for sound to be played and light flashes to be generated. This allows users to be guided by a sound “lantern”. The use of beacons also allows the mobile application to work in the background on both operating systems, and informs that there are graphic markers nearby. The application should preferably analyze photos taken by the phone’s camera, which makes it user-friendly for visually impaired people who can have their phone hidden in the pocket or purse, and when they approach a marked place, they will be informed about it (thanks to Beacons) and then they will use the phone to start looking for graphic markers.

[0066] For example, for visually impaired people who have trouble visiting new places, are unable to orient themselves in a new place and move around it. The navigation system according to the invention allows people to read information about the building, as well as correctly positions and guides them to specific points. As a result, a visually impaired person who approaches the zone can already listen to general information about the building and prepare for how it will be organized. Then, thanks to beacons, they can locate key points, such as the main entrance or toilet. Graphic markers allow them to find, for example, specific offices, and also to find out in which direction the numbering increases or decreases.

[0067] A special convenience for visually impaired and elderly people is the possibility to read the marker / code from any angle (thanks to stretching and the search symbol, which can be found at any angle). It is therefore not necessary to precisely position the phone / camera against the marker.

[0068] In a non-limiting example of an indoor navigation system based on graphic markers, markers are placed in places of interest such as doors, shop windows, stairs, elevators, toilets and all other places that the user would like to make accessible to people who use the application. Bluetooth Low Energy markers may be placed outside the building. They are usually fixed at entrances, but also at reception / information offices / cloakrooms, etc.) so that the application can detect them and inform the user that they are within the range of the system. These markers have the ability to play a sound, which helps users navigate to a specific point - presumably the entrance to the building. The algorithm activated on mobile platforms allows for quick detection of markers and, based on them, accurate (less than 1 meter) positioning on the map of the facility.

[0069] The application, launched on a mobile platform, allows you to select a destination from a list of available points and determines the optimal path to reach your destination. Thanks to precise positioning, it can keep the user informed about their progress - all they have to do is stop and lift the smartphone to let it find the markers. Thanks to the online application, the system can be updated on an ongoing basis, the markings can change dynamically (e.g. if other doctors are working in a given office at a given time) and significant changes can be introduced, such as the renovation of a circulation area. The application greatly increases the accessibility of buildings for the visually impaired.

[0070] The solution according to the invention can also be used for sighted people. Using markers according to the invention for the purposes of collecting precise information about the location allows for precise navigation inside buildings also for sighted people by indicating the exact route, or directions for moving inside the building. From time to time the application will require lifting the phone to "read" the new exact position.

[0071] The solution according to the invention can also be used as a "virtual marker". This means that currently graphic markers are placed e.g. next to the door to the office or next to the entrance. This means that guiding to the marker itself leads to reaching it. Some entrances, e.g. to shops in malls, are very large. A virtual marker is a marker that is not physically printed, but thanks to the fact that we can see other markers, we can determine where such a virtual marker would be located and guide users to it. As a result, for example with two codes on both sides of the entrance, the application can guide the user to the middle of the entrance. The same mechanism can be used in the case of a store shelf - it guides users to specific places on the shelf with products or in the case of a parcel locker - to specific lockers.

[0072] The subject-matter of the invention is shown as a non-limiting example in the drawing, in which Fig. 1 shows a graphic marker with dimensions of 7 x 8 cells, Fig. 2 shows an exemplary graphic marker with dimensions of 7 x 8 cells, Fig. 3 shows an exemplary marker with dimensions of 9 x 10 cells, Fig. 4 shows an exemplary marker with dimensions of 9 x 10 cells, Fig. 5 shows several exemplary graphic markers with assigned numbers, Fig. 6 shows graphic markers of 7 x 8 cells with pixels of different proportions, while Fig. 7 shows an exemplary diagram of the application of the invention.

[0073] EXAMPLE NO. 1

[0074] In a non-limiting example, Figure 1 shows a two-dimensional, two-color graphic marker, where the background color is white and the main color is black. The marker includes: a two- dimensional, rectangular grid of cells (pixels) of dimensions 7 x 8 cells with an additional one cell think border in the background color, a search symbol 1 located in the main corner of the marker, consisting of 2 x 2 cells in the background color, surrounded by a once cell thick ring in the main color, which is surrounded by a once cell thick ring in the background color. In addition, the marker contains positioning points (type 2a, 2b or 2c) placed in the remaining three corners of the code consisting of: one cell in the main color, surrounded by a one cell thick ring in background color 2a, two cells placed next to each other on the first axis of the code (horizontal) in the main color, surrounded by a one cell thick ring in background color 2b, two cells placed next to each other on the second axis of the code (vertical) in the main color, surrounded by a one cell thick ring in background color 2c. The marker also contains data area 3. The data area depends on the type of graphic code. For this marker, data area 3 is marked with dashed black and white lines and consists of the remaining grid cells unused by the search symbol 1 and positioning points of type 2a, 2b or 2c, in which binary information is encoded using the background color and the main color.

[0075] In this example, the marker cells / pixels are rectangular and have the following proportions: 1 :1.4. The marker can also be made in other color options, e.g. white-blue, white-green, yellow-black. In order to show the border of the 7 x 8 cells, the marker was presented against, e.g. wall 4 (diagonally hatched area).

[0076] EXAMPLE NO. 2

[0077] In a non-limiting example, Figure 2 shows a two-dimensional, two-color graphic marker, where the background color is white and the main color is black. The marker includes a two- dimensional, rectangular grid of pixels (cells) with dimensions of 7 x 8 cells with an additional once cell thick border in the background color. The outlines of the marker are marked by the symbols: "r" "q ", "L" "JThe search symbol 1 is placed in the main corner of the marker and consists of 2 x 2 cells in the background color, surrounded by a one cell thick ring in the main color, which is surrounded by a one cell thick ring in the background color. In addition, the marker contains positioning points (type 2a, 2b, 2c) placed in the remaining three corners of the code consisting of: one cell in the main color, surrounded by a one cell thick ring in background color 2a, two cells placed next to each other on the first axis of the code (horizontal) in the main color, surrounded by a one cell thick ring in background color 2b, The marker also includes a data area 3 consisting of the remaining grid cells unused by search symbol 1 and positioning points (type 2a, 2b or 2c) in which binary information is encoded using a background color and a main color.

[0078] In this example, the marker cells / pixels are rectangular and have an aspect ratio of 1 :1.2.

[0079] The marker can also be made in other color options, e.g. white-blue, white-green, yellow-black.

[0080] EXAMPLE NO. 3

[0081] In a non-limiting example, Figure 3 shows a two-dimensional, two-color graphic marker 1 , where the background color is white and the main color is black. The marker comprises: a two- dimensional, rectangular grid of pixels

[0082] (cells) with dimensions of 9 x 10 cells with an additional one cell thick border in the background color. The outlines of the marker are marked by the symbols: "r" "q ", "L" "JThe search symbol 1 , placed in the main corner of the marker, consists of 2 x 2 cells in the background color, surrounded by a one cell thick ring in the main color, which is surrounded by a one cell thick ring in the background color. In addition, the marker includes positioning points (type 2a, 2b or 2c) placed in the remaining three corners of the code consisting of: one cell in the main color, surrounded by a one cell thick ring in background color 2a, one cell in the main color, surrounded by a one cell thick ring in background color 2b, one cell in the main color, surrounded by a one cell thick ring in background color 2c. The marker also includes a data area 3 consisting of the remaining grid cells unused by search symbol 1 and positioning points (type 2a, 2b or 2c) in which binary information is encoded using a background color and a main color.

[0083] In this example, the marker cells / pixels are rectangular and have an aspect ratio of 1 :1.8.

[0084] The marker can also be made in other color options, e.g. white-blue, white-green, yellow-black.

[0085] EXAMPLE NO. 4

[0086] In a non-limiting example, a two-dimensional, two-color graphic marker is shown in Figure 4, where the background color is white and the main color is black. The marker includes: a two- dimensional, rectangular grid of pixels / cells of dimensions 9 x 10 cells with an additional one cell thick border in the background color. The outlines of the marker are marked by the symbols: "r" " ", "L" "JThe search symbol 1 is placed in the main corner of the marker and consists of 2 x 2 cells in the background color, surrounded by a one cell thick ring in the main color, which is surrounded by a one cell thick ring in the background color. In addition, the marker includes positioning points (type 2a, 2b or 2c) placed in the remaining three corners of the code consisting of: one cell in the main color, surrounded by a one cell thick ring in background color 2a, one cell in the main color, surrounded by a one cell thick ring in background color 2b, one cell in the main color, surrounded by a one cell thick ring in background color 2c. The marker also includes data area 3 consisting of the remaining grid cells unused by search symbol 1 and positioning points (type 2a, 2b or 2c) in which binary information is encoded using a background coIor and a main color.

[0087] In this example, the marker cells / pixels are rectangular and have an aspect ratio of 1 :1.8.

[0088] The marker can also be made in other color options, e.g. white-blue, white-green, yellow-black.

[0089] EXAMPLE NO. 5

[0090] In a non-limiting example, in a navigation method based on graphic markers, a graphic marker (graphic code) is detected and decoded. Detecting and decoding of such a marker comprises the following stages:

[0091] • searching for symbol 1 in the binarized image taking into account the proportions of the marker, in particular that it consists of 2 x 2 cells in the background color, surrounded by a one cell thick ring in the main color, which is surrounded by a one cell thick ring in the background color

[0092] For example, the search symbol 1 is detected based on the fact that the centers of the coherent components constituting the elements of the search symbol 1 are overlapped. The coherent components are defined by the coherent component of the inner 2 x 2 cell area in the background color and the coherent component of the one cell thick ring area in the main color surrounding the inner 2 x 2 cell area in the background color.

[0093] • Finding positioning points of type 2a, 2b or 2c in the remaining three corners of the graphic code using perspective transformations based on the shape and proportions of the search symbol 1 ,

[0094] • Determining one of 27 marker types based on the positioning points occurring in the three corners of the graphic code.

[0095] The solution according to the invention provides 27 marker types. Since in each corner there can be a positioning point of type 2a, 2b or 2c, which gives 3 possibilities and as we have 3 corners, which gives 3 cubed 3, there are 27 possibilities in total.

[0096] • decoding binary data 3 from grid cells (dependent on the marker type) based on perspective transformations according to positioning points 2 (2a, 2b, 2c) in order to determine the center points of grid cells and interpret their color (background / main) as binary data.

[0097] At this stage, the information encoded in the marker is decoded. For example, we receive a specific number, according to which any information is encoded. It may refer to information about the location of the office, or other information that does not require further processing. It may also be information about a specific product, e.g. about its location on the shelf.

[0098] EXAMPLE NO. 6

[0099] In a non-limiting example, in the navigation method based on graphic markers, a graphic marker (graphic code) is first detected and decoded. Detecting and decoding the graphic marker comprises the following stages:

[0100] • searching for symbol 1 in the binarized image taking into account the proportions of the marker, in particular that it consists of 2 x 2 cells in the background color, surrounded by a one cell thick ring in the main color, which is surrounded by a one cell thick ring in the background color.

[0101] For example, the search symbol 1 is detected based on the fact that the centers of the coherent components constituting the elements of the search symbol 1 are overlapped. The coherent components are defined by the coherent component of the inner 2 x 2 cell area in the background color and the coherent component of the one cell thick ring area in the main color surrounding the inner 2 x 2 cell area in the background color. finding positioning points of type 2a, 2b or 2c in the remaining three corners of the graphic code using perspective transformations based on the shape and proportions of the search symbol 1 ,

[0102] • defining one of the 27 marker types based on the positioning points located in the three corners of the graphic code,

[0103] The solution according to the invention provides 27 marker types. Since in each corner there can be a positioning point of type 2a, 2b or 2c, which gives 3 possibilities and as we have 3 corners, which gives 3 cubed 3, there are 27 possibilities in total.

[0104] • decoding binary data 3 from grid cells (dependent on the marker type) based on perspective transformations according to positioning points 2 (2a, 2b, 2c) in order to determine the center points of grid cells and interpret their color (background / main) as binary data.

[0105] After detecting and reading the graphic code as described above, in a further step, in order to localize the user and guide them to a specific place in the facility, the position and spatial orientation of the graphic code / graphic marker against the camera is calculated. For this purpose, the following steps are followed:

[0106] A. determining the position of four graphic code elements, i.e. the center of the search symbol 1 and the centers of three positioning points in the corners (type 2a or 2b or 2c) on the image constituting the input to the algorithm,

[0107] B. using the database of physical representations of graphic codes / graphic markers to determine the 3 dimensions of the physical representation of the graphic code based on the type of graphic code and binary data,

[0108] C. determining the actual (physical) positions with respect to the center of the graphic code of the four elements of the physical representation of the graphic code specified in point A above based on the data obtained in point B above,

[0109] D. determining the position and orientation of the graphic code in the physical system of the camera using any standard perspective calculation algorithm based on the facility's characteristic points obtained in points A and C of the claim, using the parameters of the camera being the source of the image constituting the input to the algorithm.

[0110] In a non-limiting example, the method of calculating the position and spatial orientation of a graphic marker / graphic code against a camera according to the invention uses geolocation or another method of determining the approximate location where a photograph was taken as an input to the algorithm, allowing for narrowing the scope of the search of the database of physical representations of graphic codes to physical graphic codes actually occurring in the vicinity of the location where the photograph was taken. EXAMPLE NO. 7

[0111] In a non-limiting example, a method of using the invention is also shown in Fig. 7.

[0112] At first, devices equipped with a Bluetooth Beacon module were deployed in the facility to mark key locations in the facility - such as entrances, receptions or information office. In the next step, graphic markers were deployed (each room, office, shop was marked). Although the markers can be placed freely, an effort was made to stick to the conventions of a given facility, i.e. adapting the markers to the specificity of the facility (e.g. columns, display cases, doors, etc.). Therefore, in one facility, markers can be placed near offices and in another one - on signposts above the circulation area or on handrails. It is important for the markers not to be placed too low, because then it is more likely for them to be covered by moving people, as well as other things such as trolleys or garbage cans. In the additional option, elements likely to affect the safety of visually impaired people can be marked - columns, stairs or recreational areas in the middle of the corridor. At the next stage, the data were entered into the administration panel, which is an application running on the server. Each placed marker must be correctly entered into the database along with information about it. There must be information about the place it marks - displayed later in the application, as well as on where the marker is located, what number the given code has (Sticker) or MAC address (Beacon), what dimensions the marker has (Sticker). Additionally, a geo zone was designated - an area about 100 m larger than the marked location.

[0113] This will allow the app to verify whether the user is near the location tagged with the markers and what location it is.

[0114] The solution is ready to be used. In a non-limiting example, the user starts the application before leaving the house, turns off the screen and puts it in his or her pocket / bag. When approaching a specific geolocation zone, he or she receives information that he or she is near a given zone, in the application he or she can find out information about the location, useful for navigating around the facility. When the user approaches a device equipped with a Bluetooth module, he or she will be informed that he or she is near the Beacon and, depending on the settings, the marker will be automatically activated or the user will be able to activate it manually. As a result, the user confidently locates the entrance to the building and having entered, starts scanning the markers according to the invention (NaviWay Sticker). The phone reads information related to the found markers - information about what they refer to and the distance and angle to them (sometimes in a simplified way, e.g. "to the left", "straight ahead"). As a result, the user, in addition to the description that appeared in the notification about the geolocation zone, can verify the space - "here is office 101 , then there is office 102, which means that the numbering increases in this direction". In a further stage, using the facility map, the user can be precisely guided inside buildings, i.e. the scanning of graphic markers will display the exact location on the map and will determine the path to that destination. For this purpose, a map of the facility is required.

Claims

PATENT CLAIMS1 . A two-dimensional, at least two-color graphic marker with a background color and at least one main color, characterized in that it comprises:A. a two-dimensional, rectangular grid of pixels (cells) with dimensions of at least 7 x 8 cells with an additional, at least one cell thick border in the background color,B. a search symbol (1) placed in the main corner of the marker, consisting of 2 x 2 cells in the background color, surrounded by a one cell thick ring in the main color, which is surrounded by a one cell thick ring in the background color,C. positioning points (type 2a, 2b or 2c) placed in the remaining three corners of the marker, consisting arbitrarily for each corner: i. one cell in the main color, surrounded by a one cell thick ring in the background color (2a) or, ii. two cells placed next to each other on the first axis of the code (horizontal) in the main color, surrounded by a one cell thick ring in the background color (2b) or, iii. two cells placed next to each other on the second axis of the code (vertical) in the main color, surrounded by a one cell thick ring in the background color (2c),D. a data area (3) consisting of the remaining grid cells (pixels) not used by the search symbol (1) and the positioning points (type 2a, 2b or 2c) in which binary information is encoded using a background coIor and a main color.

2. A two-dimensional graphic marker according to claim 1 , characterized in that it consists of cells of identical size, wherein the cells are rectangular in shape.

3. A two-dimensional graphic marker according to claim 1 -2, characterized in that the cells are rectangular in shape with side proportions from 1 :1.1 to 1 :2.5.

4. A two-dimensional graphic marker according to claim 1 -3, characterized in that the cells are rectangular in shape with side proportions of 1 :1.2.

5. A two-dimensional graphic marker according to claim 1 -2, characterized in that it consists of cells of identical size, wherein the cells are square-shaped.

6. A two-dimensional graphic marker according to claim 1 -5, characterized in that it consists of a two-dimensional, rectangular grid of pixels (cells) with dimensions of 7 x 8 cells.

7. A two-dimensional graphic marker according to claim 1 -6, characterized in that it consists of a two-dimensional, rectangular grid of pixels (cells) with dimensions of 9 x 10 cells.

8. A two-dimensional graphic marker according to claim 1 -7, characterized in that it is two-colored.

9. A two-dimensional graphic marker according to claim 1 -8, characterized in that the main color is black and the background color is white.

10. A two-dimensional graphic marker according to claim 1 -9, characterized in that the search symbol is placed in the upper left corner of the marker.

11. A navigation method based on a graphic marker according to claims 1 -10, characterized in that it consists of the following stages:A. searching for the symbol (1) in the binarized image taking into account the proportions described in point B of claim 1 ,B. finding positioning points of type (2a), (2b) or (2c) in the remaining three corners of the graphic marker using perspective transformations based on the shape and proportions of the search symbol (1),C. determining one of 27 marker types based on the positioning points occurring in the three comers of the graphic marker,D. decoding binary data (3) from grid cells (dependent on the marker type based on perspective transformations according to the positioning points (2) in order to determine the central points of the grid cells and interpret their color (background / main) as binary data,12. A method according to claim 11 , characterized in that the fact of overlap of coherent components constituting elements of the search symbol (1) is used to detect the search symbol (1), wherein the coherent components are defined by a coherent component of an inner 2 x 2 cell area in the background color and a coherent component of a one cel thick ring area in the main color surrounding the inner 2 x 2 cell area in the background color.

13. A navigation method according to claim 11 -12, characterized in that after the step of detecting and reading the graphic marker in accordance with the method described in claims 11 and 12, the position and spatial orientation of the graphic marker against the camera are calculated at the following stages:A. determining the position of four elements of the graphic marker, i.e. the center of the search symbol (1) and the centers of three positioning points inthe corners (type 2a or 2b or 2c) on the image constituting the input to the algorithm,B. using the database of physical representations of graphic markers to determine the dimensions of the physical representation of the graphic marker based on the type of the graphic marker and the binary data (3),C. determining the actual (physical) positions relative to the center of the graphic marker of the four elements of the physical representation of the graphic marker specified in point A based on the data obtained in point B of the claim,D. determining the position and spatial orientation of the graphic marker in the physical system of the camera using any standard algorithm for calculating perspective based on the facility's characteristic points obtained in points A and C of the claim, using the parameters of the camera as the source of the image constituting the input to the algorithm.

14. A method according to claim 13, characterized in that it uses geolocation or another method of determining the approximate location where a photograph constituting an input to the algorithm of claim 13 was taken, allowing for narrowing the scope of searching the database of physical representations of graphic markers to physical graphic markers actually occurring in the vicinity of the location where the photograph was taken.

15. A navigation system characterized in that it includes:• at least one graphic marker according to claim 1 -10• at least one Beacon• a device detecting BLE markers and / or enabling reading of graphic markers, wherein preferably the device detects BLE markers and / or enables reading of graphic markers via an application.

Images