The invention discloses an airport underground parking space positioning and navigation method based on a mobile phone. A parking space positioning and navigation algorithm can be carried out through vision and inertial sensors of the mobile phone. According to the method, firstly, a parking space shot by a mobile phone camera is positioned through a visual positioning method based on scene coordinate regression, the visual positioning algorithm realizes input of an RGB image and output of a camera pose through an end-to-end neural network algorithm, then when a person needs to find the parking space, a current position image is shot again to obtain a current initial position of the person, and the person can find the parking space. Then real-time position calculation is carried out through an inertial sensor for navigation, camera positioning poses are used as opportunity signals to compensate accumulated errors of the inertial sensor, and finally personnel can be guided to arrive at the parking space. According to the invention, real-time high-precision positioning navigation is realized through fusion positioning of high-precision visual positioning based on scene coordinate regression and pose estimation of a high-frequency inertial sensor.
一种基于手机的机场地下停车位定位导航方法,可以通过手机自身视觉和惯性传感器进行停车位定位和导航算法。本发明首先通过基于场景坐标回归的视觉定位方法对手机相机拍摄的停车位进行定位,该视觉定位算法以端到端的神经网络算法实现输入RGB图像输出相机位姿,然后当人员需要寻找车位时,再次拍摄当前位置图像获得人员当前初始位置,之后通过惯性传感器进行实时推算位置进行导航,并且以相机定位位姿作为机会信号对惯性传感器累计误差进行补偿,最终可以指导人员到达停车位。本发明通过基于场景坐标回归的高精度视觉定位和高频的惯性传感器的位姿估计,两者进行融合定位实现实时的高精度定位导航。
Airport underground parking space positioning and navigation method based on mobile phone
一种基于手机的机场地下停车位定位导航方法
2022-05-27
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / G06K Erkennen von Daten , RECOGNITION OF DATA / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / G06V / H04M TELEPHONIC COMMUNICATION , Fernsprechverkehr |
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