WO2015014018A1 - Indoor positioning and navigation method for mobile terminal based on image recognition technology - Google Patents

Indoor positioning and navigation method for mobile terminal based on image recognition technology Download PDF

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Publication number
WO2015014018A1
WO2015014018A1 PCT/CN2013/084629 CN2013084629W WO2015014018A1 WO 2015014018 A1 WO2015014018 A1 WO 2015014018A1 CN 2013084629 W CN2013084629 W CN 2013084629W WO 2015014018 A1 WO2015014018 A1 WO 2015014018A1
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stored
mobile terminal
scene image
image information
recognition technology
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PCT/CN2013/084629
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French (fr)
Chinese (zh)
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毛蔚青
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Mao Weiqing
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3602—Input other than that of destination using image analysis, e.g. detection of road signs, lanes, buildings, real preceding vehicles using a camera

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  • the present invention relates to the field of indoor positioning and navigation applications of mobile terminals and the field of mobile internet technologies, and in particular, to an indoor positioning and navigation method based on image recognition technology of a mobile terminal.
  • Indoor positioning navigation refers to positional positioning and target navigation in buildings or indoor environments, due to the complexity of indoor space and building structure.
  • Simple GPS technology can not meet the positioning requirements, so there are a variety of indoor positioning technologies and methods, including: WiFi, communication base station, Bluetooth, NFC, RFID, ultrasound, geomagnetic and other signal positioning, QR code and specific identification Object positioning, and the use of built-in sensors (gyro, acceleration sensor, orientation sensor, etc.) to track the positioning of the motion.
  • the technical problem to be solved by the present invention is to overcome the deficiencies in the prior art, and to provide an indoor positioning and navigation method based on image recognition technology of a mobile terminal, which mainly aims at positioning and navigation inside a building, and the main point is to adopt a scene positioning mode and use
  • the built-in camera function of the mobile terminal acquires the real-life image information of the environment near the user, and uses the matched position as a reference to know its own location.
  • an indoor positioning and navigation method based on image recognition technology of a mobile terminal of the present invention includes the following steps:
  • the live map is displayed, and the pre-stored site location information corresponding to the matched pre-stored scene image information obtained in step 3 is marked in the live map.
  • the method further includes:
  • the step 3 also includes the following steps:
  • step 3 A determination is made as to whether the instant scene image information can match a certain pre-stored scene image information, and if so, proceeds to step 3, and if not, prompts the user to reacquire the instant scene image, and returns to step 1.
  • the data collection in the database includes the following steps:
  • the mobile terminal communicates with the server through the mobile internet.
  • the mobile terminal includes a smart phone, a tablet or a wearable electronic product.
  • the execution command includes a relative position display, a path display, and a navigation instruction from a location where the user is located to a target location.
  • the indoor positioning and navigation method based on the image recognition technology of the mobile terminal of the invention directly uses the actual scene on the scene to realize scene location, and the advantages are simple, convenient, flexible, accurate, reliable, adaptable, can cover any position, and both
  • Such problems also avoid the complicated and cumbersome work and operation costs of equipment installation and maintenance, as well as the problem that the location of the marker is limited, difficult to find and easy to be destroyed.
  • FIG. 3 is a schematic diagram of a positioning start interface of a mobile terminal according to the present invention.
  • FIG. 4 is a schematic diagram of a positioning operation interface of a mobile terminal according to the present invention.
  • FIG. 5 is a schematic diagram of a positioning display interface of a mobile terminal according to the present invention.
  • An indoor positioning and navigation method based on image recognition technology of a mobile terminal of the present invention requires a user to install a graphic recognition technology on a mobile terminal such as a smart phone, a tablet computer, and a wearable electronic product such as a glasses (Google glasses) or a watch.
  • Client application for indoor positioning and navigation. This client connects to the client server's back-end server through the mobile Internet; or joins other clients who can host this service and connect to the relevant positioning and navigation service operator back-end server.
  • End application platform (such as: WeChat public account, etc.).
  • a plurality of location points are determined in the building room, and scene images in the room are respectively collected at the respective location points; in this step, the data collection personnel can use an image acquisition device such as a digital camera to collect the vicinity thereof at the position point Indoor scene image; at each position point, multiple images can be collected along different angles and directions; since this kind of photographing can be used to obtain the indoor scene image, it is not limited by the venue, as long as the scene can be photographed At the location point, it is possible to take a large number of images at will, providing reference support for subsequent precise positioning;
  • an image acquisition device such as a digital camera
  • the location point information is pre-stored site location information; and determining each location point in the building structure diagram obtained in step A and each floor plan Corresponding information.
  • the operator can also update the database in due course.
  • the user application software having the indoor positioning and navigation function based on the graphic recognition technology of the present invention in the mobile terminal may be used to first start the application software and enter the positioning interface (as shown in the figure). 3)); when the user chooses to start positioning, the camera function is turned on, and the live screen is displayed (as shown in FIG. 4); the user selects a scene with a landmark function in the nearby environment as a reference point, and the camera lens of the mobile terminal is aimed at the scene. , click to take a photo or scan to obtain an instant scene image of the user's location;
  • the mobile terminal After acquiring the instant scene image, the mobile terminal sends the instant scene image information to the server, and the server compares and recognizes the received instant scene image information with a plurality of pre-stored scene image information in the database; each of the pre-stored The image information is associated with a pre-stored site location information, and the pre-stored site location information is information of the location point as described above;
  • the shooting angle and the depth of field may be different from those of the pre-stored scene image, or the scene of the scene may be partially occluded. Therefore, the instant scene image acquired by the user may not be the same as the pre-stored scene image, so the server is adjusted in this step.
  • Obtaining a number of pre-stored scene image information in the database and the instant scene image by image recognition technology, and determining a pre-stored scene image that is the same as or similar to the instant scene image, and the approximate degree of the two may be arbitrarily set according to requirements, for example, In the interval of 60% to 100%, that is, when the approximation degree of the instant scene image and the pre-stored scene image is within the above range, it is judged that the information of the two matches;
  • the image recognition technology can realize the comparison of the feature information of the two pictures to determine the similarity between the two. Therefore, it is not necessary to additionally add the coded figure, the natural image or the object with the recognition feature in the room, and only need to obtain the original image of the real scene in the room.
  • the data is stored in the database as a pre-stored scene image, and then when the user needs to locate, the instant scene image is captured and the pre-stored scene image is used for image recognition to find a pre-stored scene image matching the same;
  • the mobile internet is used to connect the mobile terminal to the server in the background for data exchange, and the powerful data processing function of the background server can be utilized to quickly and quickly find the pre-stored scene image that is the same as or similar to the instant scene image sent by the mobile terminal, and the server A large number of pre-stored scene images can be stored to meet the needs of precise positioning;
  • step 2 Determining whether the instant scene image information can match a certain pre-stored scene image information, if yes, proceed to step 3, if not, prompt the user to re-acquire the instant scene image, and return to step 1;
  • the server sends a message to the mobile terminal prompting the user to reacquire the instant scene image, and returns to step 1;
  • the pre-stored scene image information and the pre-stored scene location information corresponding to the matched pre-stored scene image information are obtained;
  • the mobile terminal displays the site map, and the pre-stored site location information corresponding to the matched pre-stored scene image information obtained in step 3 is marked in the site map, and the marker point is the user's anchor point, as shown in FIG. ;
  • the execution command includes a relative position display, a path display, and a navigation instruction from a location where the user is located to a target location.
  • Users can also obtain and collect instant scene image information at any time for subsequent search and positioning (eg parking location, merchant store location, etc.).

Abstract

An indoor positioning and navigation method for a mobile terminal based on image recognition technology. The method comprises the following steps: 1) acquiring an instant scenario image of a position where a user is located; 2) sending information about the instant scenario image to a server, and conducting feature comparison on same with several pre-stored scenario image information items in a server database and then conducting identification on same; 3) obtaining matched pre-stored scenario image information and corresponding pre-stored site position information; 4) sending the corresponding pre-stored site position information to a mobile terminal; and 5) displaying a site map, and marking the corresponding pre-stored site position information in the site map. The advantages of using the indoor positioning and navigation method for a mobile terminal based on image recognition technology to realize scenario positioning by directly using site actual scenes are being simple, convenient, flexible, accurate, having high reliability and strong adaptability and being able to cover any position.

Description

移动终端基于图像识别技术的室内定位与导航方法  Indoor positioning and navigation method based on image recognition technology for mobile terminal 技术领域Technical field
本发明涉及移动终端室内定位与导航应用以及移动互联网技术领域，尤其涉及一种移动终端基于图像识别技术的室内定位与导航方法。 The present invention relates to the field of indoor positioning and navigation applications of mobile terminals and the field of mobile internet technologies, and in particular, to an indoor positioning and navigation method based on image recognition technology of a mobile terminal.
背景技术Background technique
随着智能手机应用的普及，基于GPS的移动终端户外定位与导航应用日益成熟；而室内定位导航则是指在建筑物内部或室内环境中的位置定位与目标导航，由于室内空间及建筑结构复杂，单纯的GPS技术无法满足定位要求，因此出现了多种多样的室内定位技术与方法，主要包括：WiFi、通讯基站、蓝牙、NFC、RFID、超声、地磁等信号定位，二维码及特定标识物定位，以及利用手机内置传感器（陀螺仪、加速度传感器、方位传感器等）跟踪运动的定位方式等。 With the popularization of smart phone applications, GPS-based mobile terminals are becoming more and more mature in outdoor positioning and navigation applications. Indoor positioning navigation refers to positional positioning and target navigation in buildings or indoor environments, due to the complexity of indoor space and building structure. Simple GPS technology can not meet the positioning requirements, so there are a variety of indoor positioning technologies and methods, including: WiFi, communication base station, Bluetooth, NFC, RFID, ultrasound, geomagnetic and other signal positioning, QR code and specific identification Object positioning, and the use of built-in sensors (gyro, acceleration sensor, orientation sensor, etc.) to track the positioning of the motion.
上述各类室内定位与导航技术或是通过各种信号感应以定位本地位置，或是需要安置定位标识物，分别存在信号不稳定、定位不准确、易发生故障或损坏等问题与缺陷，或者由于硬件设备铺设、现场信号采集、安放定位标识物等工程作业，需要物管及相关业主方面配合，因而实施难度大、运营成本高；同时，诸如在室内设置二维码及特定标识物的方式，还存在着二维码及特定标识物必须在适当的位置设置，无法任意位置设置的缺陷，从而降低了定位的准确性，另一方面，二维码及特定标识物容易因人为或非人为的因素毁损，增加了额外的维护成本。鉴于上述诸多因素，室内定位及导航至今仍难普及。 The above various types of indoor positioning and navigation technologies either use local signal sensing to locate local locations, or need to place positioning markers, which have problems and defects such as unstable signals, inaccurate positioning, prone to failure or damage, or Engineering operations such as hardware equipment laying, on-site signal acquisition, and positioning of positioning markers require the cooperation of property management and related owners, which makes implementation difficult and high in operating costs. At the same time, such as setting a QR code and specific identifiers indoors, There is also a defect that the two-dimensional code and the specific identifier must be set at an appropriate position and cannot be set at any position, thereby reducing the accuracy of positioning. On the other hand, the two-dimensional code and the specific identifier are easily caused by artificial or non-human. Factor damage, adding additional maintenance costs. In view of the above factors, indoor positioning and navigation are still difficult to popularize.
技术问题technical problem
本发明要解决的技术问题是克服现有技术中的缺陷，提供一种移动终端基于图像识别技术的室内定位与导航方法，主要针对建筑物内部的定位与导航，要点在于采用场景定位方式，使用移动终端内置拍照功能，获取用户附近环境实景图像信息，以所匹配的位置作为参照，从而获知自身位置。 The technical problem to be solved by the present invention is to overcome the deficiencies in the prior art, and to provide an indoor positioning and navigation method based on image recognition technology of a mobile terminal, which mainly aims at positioning and navigation inside a building, and the main point is to adopt a scene positioning mode and use The built-in camera function of the mobile terminal acquires the real-life image information of the environment near the user, and uses the matched position as a reference to know its own location.
技术解决方案Technical solution
为解决上述问题，本发明的一种移动终端基于图像识别技术的室内定位与导航方法，包括以下步骤： To solve the above problem, an indoor positioning and navigation method based on image recognition technology of a mobile terminal of the present invention includes the following steps:
1 ）获取用户所处位置的即时场景图像； 1) acquiring an instant scene image of the location where the user is located;
2 ）将所述即时场景图像信息发送至服务器，并与服务器数据库中的若干预存场景图像信息进行特征比对、识别；其中每一预存图像信息对应一预存现场位置信息； 2 Sending the instant scene image information to the server, and performing feature comparison and recognition with a plurality of pre-stored scene image information in the server database; wherein each pre-stored image information corresponds to a pre-stored scene location information;
3 ）获得与所述即时场景图像信息相匹配的预存场景图像信息以及该相匹配的预存场景图像信息对应的预存现场位置信息； 3 Obtaining pre-stored scene image information that matches the instant scene image information and pre-stored scene location information corresponding to the matched pre-stored scene image information;
4 ）将步骤3中所获得的相匹配的预存场景图像信息对应的预存现场位置信息发送至移动终端； 4) transmitting the pre-stored site location information corresponding to the matched pre-stored scene image information obtained in step 3 to the mobile terminal;
5 ）显示现场地图，并将步骤3中所获得的相匹配的预存场景图像信息对应的预存现场位置信息在现场地图中予以标示。 5 The live map is displayed, and the pre-stored site location information corresponding to the matched pre-stored scene image information obtained in step 3 is marked in the live map.
所述步骤5后，还包括： After the step 5, the method further includes:
6 ）执行针对目标位置的导航功能执行命令。 6) Execute the command to execute the navigation function for the target location.
所述步骤3之前还包括以下步骤： The step 3 also includes the following steps:
21 ）判断即时场景图像信息是否能够与某一预存场景图像信息相匹配，如果是，进入步骤3，如果否，提示用户重新获取即时场景图像，并返回步骤1。 twenty one A determination is made as to whether the instant scene image information can match a certain pre-stored scene image information, and if so, proceeds to step 3, and if not, prompts the user to reacquire the instant scene image, and returns to step 1.
所述数据库中的数据采集，包括以下步骤： The data collection in the database includes the following steps:
A ）获取建筑物结构图及各个楼层平面图，建立室内地图； A) Obtain the building structure map and each floor plan, and establish an indoor map;
B ）在建筑物室内确定多个位置点，分别在各个位置点采集室内的场景图像； B) determining a plurality of location points in the building room, and collecting scene images in the room at each location point;
C ）将采集到的室内场景图像与采集该图像的位置点进行关联。 C) Associate the acquired indoor scene image with the location point at which the image was acquired.
所述移动终端与服务器之间，通过移动互联网络进行通讯。 The mobile terminal communicates with the server through the mobile internet.
所述移动终端包括智能手机、平板电脑或穿戴式电子产品。 The mobile terminal includes a smart phone, a tablet or a wearable electronic product.
所述执行命令包括从用户所在位置到目标位置的相对位置显示、路径显示与导航指令。 The execution command includes a relative position display, a path display, and a navigation instruction from a location where the user is located to a target location.
有益效果Beneficial effect
采用本发明移动终端基于图像识别技术的室内定位与导航方法，直接利用现场实际景物实现场景定位，优点是简单、方便、灵活、准确、可靠性强，适应性强，可覆盖任意位置，并且既无须在现场安装任何用于定位的设备，或者搭建专用服务器，也无须在现场安置任何用于定位的标识物，避免了其它各类定位方式（如WiFi定位等）的稳定性不良、定位不准等问题，也避免了设备安装与维护的复杂繁琐工作和运营成本，以及标识物安置位置受限、不易找寻和易被破坏等问题。 The indoor positioning and navigation method based on the image recognition technology of the mobile terminal of the invention directly uses the actual scene on the scene to realize scene location, and the advantages are simple, convenient, flexible, accurate, reliable, adaptable, can cover any position, and both There is no need to install any equipment for positioning on site, or set up a dedicated server, and there is no need to place any markers for positioning on the site, which avoids the stability of other various positioning methods (such as WiFi positioning) and the positioning is not accurate. Such problems also avoid the complicated and cumbersome work and operation costs of equipment installation and maintenance, as well as the problem that the location of the marker is limited, difficult to find and easy to be destroyed.
附图说明DRAWINGS
图1为本发明中数据库的数据采集流程； 1 is a data collection process of a database in the present invention;
图2为本发明中室内定位流程； 2 is an indoor positioning process in the present invention;
图3为本发明中移动终端的定位启动界面示意图； 3 is a schematic diagram of a positioning start interface of a mobile terminal according to the present invention;
图4为本发明中移动终端的定位操作界面示意图； 4 is a schematic diagram of a positioning operation interface of a mobile terminal according to the present invention;
图5为本发明中移动终端的定位显示界面示意图。 FIG. 5 is a schematic diagram of a positioning display interface of a mobile terminal according to the present invention.
本发明的最佳实施方式BEST MODE FOR CARRYING OUT THE INVENTION
本发明的实施方式Embodiments of the invention
为了使本技术领域的人员更好地理解本发明技术方案，下面结合实施方式对本发明作进一步的详细说明，但本发明并不局限于所列的实施例。 The present invention will be further described in detail below with reference to the embodiments of the present invention, but the present invention is not limited to the listed embodiments.
本发明的一种移动终端基于图像识别技术的室内定位与导航方法，需要用户在诸如智能手机、平板电脑，以及眼镜（谷歌眼镜）、手表等穿戴电子产品等移动终端上安装具备基于图形识别技术的室内定位与导航功能的客户端应用软件，此客户端通过移动互联网与客户端运营商的后台服务器相连接；或者加入可承载此项服务并可连接相关定位导航服务运营商后台服务器的其它客户端应用平台（如：微信公共帐号等）。 An indoor positioning and navigation method based on image recognition technology of a mobile terminal of the present invention requires a user to install a graphic recognition technology on a mobile terminal such as a smart phone, a tablet computer, and a wearable electronic product such as a glasses (Google glasses) or a watch. Client application for indoor positioning and navigation. This client connects to the client server's back-end server through the mobile Internet; or joins other clients who can host this service and connect to the relevant positioning and navigation service operator back-end server. End application platform (such as: WeChat public account, etc.).
上述提供此项定位导航服务的运营商需要首先完成以下数据采集步骤（如图1所示）： The above operators who provide this location navigation service need to complete the following data collection steps (as shown in Figure 1):
A ）获取建筑物结构图及各个楼层平面图，建立室内地图； A) Obtain the building structure map and each floor plan, and establish an indoor map;
B ）在建筑物室内确定多个位置点，分别在各个位置点采集室内的场景图像；该步骤中，数据采集人员可以使用诸如数码相机的图像采集装置，在所述位置点处，采集其附近的室内场景图像；在每个位置点处，可以沿不同角度和方向采集多个图像；由于可以采用这种拍照的方式来获取室内的场景图像，因此不受场地的限制，只要在能够拍摄到场景的位置点，就能够任意拍摄大量图像，为后续的精确定位提供参照支持； B A plurality of location points are determined in the building room, and scene images in the room are respectively collected at the respective location points; in this step, the data collection personnel can use an image acquisition device such as a digital camera to collect the vicinity thereof at the position point Indoor scene image; at each position point, multiple images can be collected along different angles and directions; since this kind of photographing can be used to obtain the indoor scene image, it is not limited by the venue, as long as the scene can be photographed At the location point, it is possible to take a large number of images at will, providing reference support for subsequent precise positioning;
C ）将采集到的室内场景图像与采集该图像的位置点进行关联，所述位置点信息即为预存现场位置信息；同时在步骤A中获取的建筑物结构图及各个楼层平面图中确定各个位置点对应的信息。 C Correlating the collected indoor scene image with a location point for collecting the image, the location point information is pre-stored site location information; and determining each location point in the building structure diagram obtained in step A and each floor plan Corresponding information.
建立好数据库后，同时运营商还可以适时对数据库进行更新。 After the database is established, the operator can also update the database in due course.
用户在建筑物室内现场操作定位导航功能，需完成以下步骤（如图2所示）： To operate the positioning and navigation function on the site of the building, the user needs to complete the following steps (as shown in Figure 2):
1 ）获取用户所处位置的即时场景图像； 1) acquiring an instant scene image of the location where the user is located;
该步骤中，用户在需要室内导航的时候，可以使用其移动终端中的具有本发明基于图形识别技术的室内定位与导航功能的客户端应用软件，首先启动该应用软件，进入定位界面（如图3所示）；用户选择开始定位，则摄像机功能开启，显示现场画面（如图4所示）；用户选择附近环境中能够具有地标功能的场景作为参照点，将移动终端摄像机镜头对准该场景，点击拍照或扫描，从而获取用户所处位置的即时场景图像； In this step, when the user needs indoor navigation, the user application software having the indoor positioning and navigation function based on the graphic recognition technology of the present invention in the mobile terminal may be used to first start the application software and enter the positioning interface (as shown in the figure). 3)); when the user chooses to start positioning, the camera function is turned on, and the live screen is displayed (as shown in FIG. 4); the user selects a scene with a landmark function in the nearby environment as a reference point, and the camera lens of the mobile terminal is aimed at the scene. , click to take a photo or scan to obtain an instant scene image of the user's location;
2 ）移动终端在获取即时场景图像后，将所述即时场景图像信息发送至服务器，服务器将收到的即时场景图像信息与数据库中的若干预存场景图像信息进行特征比对、识别；其中每一预存图像信息对应关联一预存现场位置信息，该预存现场位置信息即如前所述的位置点的信息； 2 After acquiring the instant scene image, the mobile terminal sends the instant scene image information to the server, and the server compares and recognizes the received instant scene image information with a plurality of pre-stored scene image information in the database; each of the pre-stored The image information is associated with a pre-stored site location information, and the pre-stored site location information is information of the location point as described above;
当用户获取即时场景图像时，可能拍摄角度、景深与获取预存场景图像时不同，或者现场的场景被部分遮挡，因此用户获取的即时场景图像可能无法与预存场景图像相同，因此该步骤中服务器调取数据库中的若干预存场景图像信息与即时场景图像通过图像识别技术进行比对，并判断出与即时场景图像相同或者相近似的预存场景图像，二者的近似度可以根据需要任意设定，例如在60%～100%的区间内，即当即时场景图像与预存场景图像的近似度在上述区间范围内时，则判断二者的信息相匹配； When the user obtains an instant scene image, the shooting angle and the depth of field may be different from those of the pre-stored scene image, or the scene of the scene may be partially occluded. Therefore, the instant scene image acquired by the user may not be the same as the pre-stored scene image, so the server is adjusted in this step. Obtaining a number of pre-stored scene image information in the database and the instant scene image by image recognition technology, and determining a pre-stored scene image that is the same as or similar to the instant scene image, and the approximate degree of the two may be arbitrarily set according to requirements, for example, In the interval of 60% to 100%, that is, when the approximation degree of the instant scene image and the pre-stored scene image is within the above range, it is judged that the information of the two matches;
图像识别技术能够实现对两幅图片特征信息的比对，从而确定二者相似度，因此无需在室内额外增设具有识别特征的编码图形、自然图像或物体，只需要获取室内的真实场景原貌的图像存入数据库作为预存场景图像即可，而后在用户需要定位时，拍摄即时场景图像与这些预存场景图像进行图像识别，找出与其相匹配的预存场景图像； The image recognition technology can realize the comparison of the feature information of the two pictures to determine the similarity between the two. Therefore, it is not necessary to additionally add the coded figure, the natural image or the object with the recognition feature in the room, and only need to obtain the original image of the real scene in the room. The data is stored in the database as a pre-stored scene image, and then when the user needs to locate, the instant scene image is captured and the pre-stored scene image is used for image recognition to find a pre-stored scene image matching the same;
所述移动终端与服务器之间，通过移动互联网络进行通讯； Communicating between the mobile terminal and the server through a mobile internet connection;
使用移动互联网络将移动终端与后台的服务器联接进行数据交换，可以利用后台服务器强大的数据处理功能，快捷迅速地查找到与移动终端发送的即时场景图像相同或相近似的预存场景图像，同时服务器内可以存储大量的预存场景图像，以满足精确定位的需要； The mobile internet is used to connect the mobile terminal to the server in the background for data exchange, and the powerful data processing function of the background server can be utilized to quickly and quickly find the pre-stored scene image that is the same as or similar to the instant scene image sent by the mobile terminal, and the server A large number of pre-stored scene images can be stored to meet the needs of precise positioning;
21 ）判断即时场景图像信息是否能够与某一预存场景图像信息相匹配，如果是，进入步骤3，如果否，提示用户重新获取即时场景图像，并返回步骤1； twenty one Determining whether the instant scene image information can match a certain pre-stored scene image information, if yes, proceed to step 3, if not, prompt the user to re-acquire the instant scene image, and return to step 1;
由于用户采集到的即时场景图像可能存在质量问题，或者数据库中预存的场景图像信息不足，有可能存在即时场景图像信息无法与预存场景图像信息相匹配的情况，进而无法完成定位，因此在发生上述情况时，服务器向移动终端发送信息提示用户重新获取即时场景图像，并返回步骤1； Since the real-time scene image collected by the user may have a quality problem, or the scene image information pre-stored in the database is insufficient, there may be a case where the real-time scene image information cannot match the pre-stored scene image information, and thus the positioning cannot be completed, so the above occurs. In case, the server sends a message to the mobile terminal prompting the user to reacquire the instant scene image, and returns to step 1;
3 ）当即时场景图像信息能够与某一预存场景图像信息相匹配时，则获得该预存场景图像信息，以及该相匹配的预存场景图像信息对应的预存现场位置信息； 3 When the live scene image information can be matched with a certain pre-stored scene image information, the pre-stored scene image information and the pre-stored scene location information corresponding to the matched pre-stored scene image information are obtained;
4 ）将步骤3中所获得的相匹配的预存场景图像信息对应的预存现场位置信息发送至移动终端； 4) transmitting the pre-stored site location information corresponding to the matched pre-stored scene image information obtained in step 3 to the mobile terminal;
5 ）移动终端显示现场地图，并将步骤3中所获得的相匹配的预存场景图像信息对应的预存现场位置信息在现场地图中予以标示，该标示点即为用户的定位点，如图5所示； 5 The mobile terminal displays the site map, and the pre-stored site location information corresponding to the matched pre-stored scene image information obtained in step 3 is marked in the site map, and the marker point is the user's anchor point, as shown in FIG. ;
6 ）执行针对目标位置的导航功能执行命令。 6) Execute the command to execute the navigation function for the target location.
所述执行命令包括从用户所在位置到目标位置的相对位置显示、路径显示与导航指令。 The execution command includes a relative position display, a path display, and a navigation instruction from a location where the user is located to a target location.
用户还可以随时获取并收藏即时场景图像信息，以便后续查找进行定位（如：停车位置、商家店铺位置等）。 Users can also obtain and collect instant scene image information at any time for subsequent search and positioning (eg parking location, merchant store location, etc.).
以上所述仅是本发明的基本实施方式，对于本技术领域的技术人员来说，在不脱离本发明原理的前提下，还可以做出若干改进、润饰和发展，这些基于本发明的改进、润饰和发展也应视为本发明的保护范围。 The above description is only a basic embodiment of the present invention, and those skilled in the art can make several improvements, refinements and developments without departing from the principles of the present invention. Retouching and development should also be considered as protection scope of the present invention.
工业实用性Industrial applicability
序列表自由内容Sequence table free content

Claims (1)

  1. 1 、一种移动终端基于图像识别技术的室内定位与导航方法，其特征在于，包括以下步骤：1 . An indoor positioning and navigation method based on image recognition technology of a mobile terminal, characterized in that the method comprises the following steps:
    1 ）获取用户所处位置的即时场景图像；1) acquiring an instant scene image of the location where the user is located;
    2 ）将所述即时场景图像信息发送至服务器，并与服务器数据库中的若干预存场景图像信息进行特征比对、识别；其中每一预存图像信息对应一预存现场位置信息；2 Sending the instant scene image information to the server, and performing feature comparison and recognition with a plurality of pre-stored scene image information in the server database; wherein each pre-stored image information corresponds to a pre-stored scene location information;
    3 ）获得与所述即时场景图像信息相匹配的预存场景图像信息以及该相匹配的预存场景图像信息对应的预存现场位置信息；3 Obtaining pre-stored scene image information that matches the instant scene image information and pre-stored scene location information corresponding to the matched pre-stored scene image information;
    4 ）将步骤3中所获得的相匹配的预存场景图像信息对应的预存现场位置信息发送至移动终端；4) transmitting the pre-stored site location information corresponding to the matched pre-stored scene image information obtained in step 3 to the mobile terminal;
    5 ）显示现场地图，并将步骤3中所获得的相匹配的预存场景图像信息对应的预存现场位置信息在现场地图中予以标示。5 The live map is displayed, and the pre-stored site location information corresponding to the matched pre-stored scene image information obtained in step 3 is marked in the live map.
    2 、如权利要求1所述的移动终端基于图像识别技术的室内定位与导航方法，其特征在于，所述步骤5后，还包括：2 The method of claim 1, wherein the step 5 further comprises:
    6 ）执行针对目标位置的导航功能执行命令。6) Execute the command to execute the navigation function for the target location.
    3 、如权利要求2所述的移动终端基于图像识别技术的室内定位与导航方法，其特征在于，所述执行命令包括从用户所在位置到目标位置的相对位置显示、路径显示与导航指令。3 The indoor positioning and navigation method of the mobile terminal based on the image recognition technology according to claim 2, wherein the execution command comprises a relative position display, a path display and a navigation instruction from a position where the user is located to the target position.
    4 、如权利要求1所述的移动终端基于图像识别技术的室内定位与导航方法，其特征在于，所述步骤3之前还包括以下步骤：4 The indoor positioning and navigation method of the mobile terminal based on the image recognition technology according to claim 1, wherein the step 3 further comprises the following steps:
    21 ）判断即时场景图像信息是否能够与某一预存场景图像信息相匹配，如果是，进入步骤3，如果否，提示用户重新获取即时场景图像，并返回步骤1。twenty one A determination is made as to whether the instant scene image information can match a certain pre-stored scene image information, and if so, proceeds to step 3, and if not, prompts the user to reacquire the instant scene image, and returns to step 1.
    5 、如权利要求1所述的移动终端基于图像识别技术的室内定位与导航方法，其特征在于，所述数据库中的数据采集，包括以下步骤：5 The indoor positioning and navigation method based on the image recognition technology of the mobile terminal according to claim 1, wherein the data collection in the database comprises the following steps:
    A ）建立建筑物室内地图；A) establish a map of the building's interior;
    B ）在建筑物室内确定多个位置点，分别在各个位置点采集室内的场景图像；B) determining a plurality of location points in the building room, and collecting scene images in the room at each location point;
    C ）将采集到的室内场景图像与采集该图像的位置点进行关联。C) Associate the acquired indoor scene image with the location point at which the image was acquired.
    6 、如权利要求1至5任一项所述的移动终端基于图像识别技术的室内定位与导航方法，其特征在于，所述移动终端与服务器之间，通过移动互联网络进行通讯。6 The indoor positioning and navigation method based on the image recognition technology of the mobile terminal according to any one of claims 1 to 5, wherein the mobile terminal communicates with the server through the mobile internet.
    7 、如权利要求1至5任一项所述的移动终端基于图像识别技术的室内定位与导航方法，其特征在于，所述移动终端包括智能手机、平板电脑或穿戴式电子产品。7 The indoor positioning and navigation method based on the image recognition technology of the mobile terminal according to any one of claims 1 to 5, wherein the mobile terminal comprises a smart phone, a tablet computer or a wearable electronic product.
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