KR101720097B1 - User device locating method and apparatus for the same - Google Patents

Abstract

A method for measuring a position of a user equipment using one or more markers including an image including coordinate information in a user equipment, the method comprising the steps of: And a step of measuring the position of the user equipment based on the coordinate information.

Description

[0001] The present invention relates to a positioning method for a user equipment,

The present invention relates to a method of measuring a position of a user equipment using one or more markers including image information on coordinates in a user equipment and an apparatus for implementing the same.

The Indoor Positioning System (IPS) identifies the user's location inside the building using WLAN, Bluetooth, WiFi, RFID, ultrasound, infrared, etc., It is a system that easily finds the location of an object or place against the map embedded in the device.

In the indoor positioning method using Bluetooth, a Bluetooth device that knows the position is generally regarded as a reference point by using the distance information between Bluetooth calculated using the Received Signal Strength Indicator (RSSI), and the position is measured using triangulation . The advantage of indoor positioning using Bluetooth is that if the infrastructure installation cost is low due to mass production of the Bluetooth chipset, the service coverage can be reduced through multiple sensor arrangements, thereby improving the positioning accuracy. However, since the transmission and reception delay is large, the position accuracy is degraded in the dynamic environment and the low power and low speed are designed, and continuous positioning is impossible.

On the other hand, in a method using an ultrasonic wave, there is a method of finding a position of a target object by using a difference between a transmission speed of a fast RF signal and a relatively slow ultrasonic wave. With this technology, it is possible to realize three-dimensional position recognition, and it is possible to construct a low-power and low-cost system. In addition, the ultrasound-based indoor positioning is highly accurate in position accuracy and is capable of three-dimensional positioning. However, expensive infrastructure installation cost is required, transmitter position information must be known in advance, and interference problems arise depending on the transmitter arrangement.

On the other hand, in the method using infrared rays, an infrared ray sensor attached to various places in the room recognizes an infrared ray device having a unique ID code and finds its position. There are many commercial solutions because infrared is an old system that has been developed. Also, there is an advantage that a host mobile computer for position calculation is unnecessary. Infrared based indoor positioning is relatively simple in structure of the system, but it is inexpensive because it can be used only within the visible range due to the characteristics of the infrared signal, and is difficult to use in a place where fluorescent or direct sunlight is reflected.

Hereinafter, a method using RFID will be described. RFID is largely classified into a tag and a reader, and the reader is composed of a transmitter and a receiver / decoder. When the transmitter in the reader sends an activation signal, the tag near the reader returns a unique ID assigned to it. The reader reads this to determine which tags are in their vicinity. Since the detection distance of the RFID reader is about 2.5 m, it can be used as a proximity location sensor for a specific location, and can be used as a positioning system when it is evenly distributed in a limited indoor space. The advantage of RFID based indoor positioning is that it can be detected even if the tag is moved quickly if the proximity condition is satisfied and the information assist function can be added by adding the read / write function to the tag. In addition, the price of passive tag is low and the active tag can increase the signal reach distance by attaching a small antenna. However, there is a disadvantage that the situation where the received information is shared by the communication network is not taken into account and the signal reaching distance is as short as 2 to 3 m. Also, the reader must be installed within a high density.

In the present invention, an indoor positioning technique is provided.

According to an aspect of the present invention, there is provided a positioning method of a user equipment, comprising: a step of determining, based on a map on which marker information provided by one or more markers included in a photographed image photographed by a user device and coordinate information included in the marker information is mapped, And measuring the position of the user equipment.
The marker information may further include azimuth information, and the location of the user equipment may be measured based on the coordinate information and the azimuth information.
Here, the marker information may further include orientation information, and the measuring may further include calculating a position of the user device by further using a position and an attitude of the first marker included in the captured image in the captured image Step < / RTI >
In this case, the marker information further includes orientation information, and each of the one or more markers has a three-dimensional shape including a plurality of planes belonging to different planes, and the information on the orientation or the information on the coordinates And is displayed on the plurality of surfaces.
According to an aspect of the present invention, there is provided a computer-readable medium for causing a user device to perform a mapping process, wherein marker information provided by one or more markers included in a photographed image taken by the user device, and coordinate information included in the marker information are mapped And measuring the position of the user equipment based on the map.
In this case, the marker information may further include orientation information, and the program may further cause the user device to display, based on the orientation information included in the one or more markers included in the photographed image photographed by the user device, And a step of measuring a direction in which the device is facing.
In this case, the user equipment includes an attitude sensor, and the program may further include the step of correcting the measured position of the user equipment using the attitude of the user equipment measured by the attitude sensor, to the user equipment May be configured to execute.
The program may further cause the user device to output a bird's-eye view of the direction of the user device from the position of the user device on the screen of the user device based on the position of the user device and the direction toward the user device , And the bird's-eye view may be provided in advance.
A marker according to one aspect of the present invention is a marker used for positioning, and has a three-dimensional shape having a plurality of surfaces including a plurality of surfaces belonging to different planes, and from each of the plurality of surfaces, Wherein the marker information includes at least one of coordinate information of a place where the first surface is located and orientation information about a direction that the second surface faces.
A user apparatus according to one aspect of the present invention is a user apparatus including a photographing section and a processing section, the processing section comprising: marker information provided by one or more markers included in a photographed image photographed using the photographing section; The position of the user equipment is measured based on a map to which the coordinate information included in the information is mapped.

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According to the present invention, the position can be effectively positioned in the room.

1 shows a user equipment according to an embodiment of the present invention.
2 is a diagram for explaining a positioning method of a user equipment according to an embodiment of the present invention.
3 is a diagram for explaining a positioning method of a user equipment according to an embodiment of the present invention.
FIG. 4A shows a state in which the imaging plane is parallel to a horizontal plane in a situation where the user equipment is located immediately below the marker, and FIG. 4B shows a state in which the imaging plane is inclined with respect to the horizontal plane Posture.
FIG. 5 illustrates a three-dimensional barcode according to an embodiment of the present invention.
FIG. 6 illustrates a process of taking a smartphone when a three-dimensional bar code is attached to a ceiling according to an embodiment of the present invention.
FIG. 7 is a flowchart illustrating a method of detecting a tilted direction and an angle of a smart phone (user equipment) according to an embodiment of the present invention and correcting the position of the user's device analyzed on the screen, To explain how to do this.
8 shows an example of an installation procedure of an indoor positioning system using a stereoscopic two-dimensional barcode (three-dimensional barcode).
9 is a diagram for explaining the MAP part of the stereoscopic two-dimensional bar code indoor positioning system in detail.
10 is a view for explaining a coordinate recognition method among stereoscopic two-dimensional bar code indoor positioning systems.
11 is a diagram for explaining a method of recognizing coordinates in a stereoscopic two-dimensional bar code indoor positioning system according to an embodiment of the present invention.
FIG. 12 shows an example of an application program for providing a route search function using indoor positioning information obtained by an embodiment of the present invention.
13 shows an example of an application program for providing a friend searching function using indoor positioning information obtained by an embodiment of the present invention.
FIG. 14 is a view showing three images taken while the smartphone is tilted at the same place of the marker in which the orientation information is recorded according to an embodiment of the present invention.
FIG. 15 is a view showing three images taken while the smartphone is being tilted at the same place of the marker in which the orientation information and the coordinate information are recorded according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. However, the present invention is not limited to the embodiments described herein, but may be implemented in various other forms. The terminology used herein is for the purpose of understanding the embodiments and is not intended to limit the scope of the present invention. Also, the singular forms as used below include plural forms unless the phrases expressly have the opposite meaning.

Hereinafter, a positioning method of a user equipment according to an embodiment of the present invention will be described with reference to FIGS. 1 to 7B.

1 shows a user equipment according to an embodiment of the present invention.
The positioning method for measuring the position of the user equipment 100 according to an embodiment of the present invention is a method for measuring the position of the user equipment 100 by using one or more markers including an image including coordinate information, . That is, an image may be printed on the marker, and the image may include coordinate information. As will be described later, the marker may be any object with an entity attached or suspended above the height of a person.

At this time, the user device 100 may include a screen 110 and a camera 120. At this time, the photographed image 130 photographed by the user device 100 may be photographed through the camera 120. The captured image 130 may be output through the screen 110 but may not be output to the user if it is used only within the user device 100 in one embodiment of the present invention. The imaging surface of an imaging element such as a CMOS or a CCD constituting the camera 120 may be disposed in parallel with the surface of the screen 110. [ At this time, it is assumed that the camera 120 photographs the ceiling of the room while the user is walking while looking at the screen 110 while holding the user equipment 100. At this time, it is assumed that the image pickup plane of the camera 120 is parallel to the horizontal plane.

2 is a diagram for explaining a positioning method of a user equipment according to an embodiment of the present invention.
2A and 2B, a positioning method of the user equipment 100 according to an embodiment of the present invention may include positioning the at least one marker 140 to 140 included in a captured image taken by the user equipment 100, (4,2), (2,1), (2,4), (8,1), (8,4)) of the user device . In FIGS. 2A and 2B, the red dot is the center of the photographed image, and when the image sensing plane is parallel to the horizontal plane, it can be determined that the user device 100 is located immediately below the indoor ceiling represented by the red dot. As shown in FIG. 2A, the markers 140 may actually have a letter 4,2. In another example, a non-numeric bar code or other encrypted image may be printed. The image printed on the marker 140 may be recognized by a ray of light other than visible light.

At this time, as shown in FIG. 2A, when only one marker is included in the captured image 130, it can be seen that the user device 100 is near the one marker. The coordinate information included in the one marker may be mapped to the coordinates of the specific map. Thus, it is possible to roughly grasp where the user device 100 is. That is, when an image including coordinate information (4, 2) of one marker 140 is output to the photographed image 130, the position of the user equipment is determined based on the coordinate information 4,2 on the map, It can be judged that it is in the vicinity of the position indicated by?

2B, when a plurality of markers 141, 142, 143, and 144 are displayed on the photographed image 130, it is determined that they are near the position indicated by the coordinate information of the respective coordinate information of the plurality of markers can do. That is, the first coordinate information (2, 1) included in the image of the first marker 141 and the second coordinate information 2, 4 included in the image of the second marker 142 The third coordinate information 8,1 included in the image of the third marker 143 and the fourth coordinate information 8,4 included in the image of the fourth marker 144 are displayed and output , It can be determined that the position of the user equipment 100 is near the position indicated by the center coordinates of the first to fourth coordinate information on the map. This is better if the imaging plane of the camera 120 is parallel to the horizontal plane and if the top four markers are installed on the ceiling.

3 is a diagram for explaining a positioning method of a user equipment according to an embodiment of the present invention.
As shown in FIGS. 3A and 3B, in the positioning method of the user equipment according to the embodiment of the present invention, the image further includes orientation information, and the coordinate information and the orientation information included in the image And measuring the position of the user equipment. In FIGS. 3A and 3B, the red dot is the center of the photographed image, and when the image sensing plane is parallel to the horizontal plane, it can be determined that the user device 100 is located immediately below the indoor ceiling represented by the red dot. In the marker 140 shown in FIG. 3A, 4,2 and N / W / S / E may be printed according to the same shape and position as shown in FIG. 3A. FIG. 3A shows a result of photographing the marker 140 with a camera.

3A, the image included in one marker 140 in the captured image 130 may include coordinate information 4,2 and azimuth information NWSE, It can be determined that the position of the user device 100 is located slightly to the south (S) of the coordinate information (4, 2).

3B, when a plurality of markers 141, 142, 143, and 144 are displayed on the photographed image 130, the coordinate information and the azimuth information included in the four markers 141 to 144 are used to display the user's device 100) can be calculated more precisely. 3B, the position of the user device 100 indicated by the red dot is located on the southeast side SE than the coordinate (2,1) indicated by the marker 141, (NW) than the coordinates (8, 4) indicated by the marker 144 on the NE side than the coordinates (8, 1) indicated by the marker 143, It is on the side.

3C shows another photographing example. The rectangular boundary of the marker 140 in FIG. 3C may not align with the boundary line of the shot image 130. In this case, it can be seen that the position of the user device 100 indicated by the red dot is located to the south of the coordinates (3, 2) displayed on the marker 140. [

At this time, the measuring step includes calculating a position of the user device based on the position and the posture of the first marker included in the shot image in the shot image. In addition, the user equipment may include an attitude sensor (ex: gyro sensor), and the measuring may include correcting the measured position of the user equipment based on the attitude of the user equipment measured by the attitude sensor . Here, the posture can be defined by how much the imaging plane is inclined in the direction of the north, south, east, and west with respect to the horizontal direction. FIGS. 4A and 4B show two cases of the posture of the user device 100. FIG.

4A shows a state in which the imaging plane is parallel to the horizontal plane in a situation where the user device 100 is positioned directly below the marker 140. [ At this time, a ceiling area P50 is imaged on the imaging surface, and the marker 140 is positioned in the center of the captured image 130. [ At this time, since the red dot indicating the position of the user device 100 coincides with the marker 140 included in the captured image 130, the position of the user device 100 can be accurately measured.

4B shows a state in which the imaging surface is tilted with respect to the horizontal plane in a situation where the user device 100 is positioned directly below the marker 140. [ At this time, the ceiling area P51 is imaged on the image sensing plane, and the marker 140 is positioned outside the center of the captured image 130. [ In this case, it can be judged that the user device 100 is positioned slightly on the SE side from the coordinates 7,2 indicated by the marker 140, which is a wrong result. This result can be solved by receiving the posture information of the user device 100 from the posture sensor included in the user device 100 and correcting it.

In this case, the positioning method of the user equipment according to an embodiment of the present invention further includes the step of displaying and outputting the measured position of the user equipment on a map. At this time, the attitude sensor can be implemented through a gyro sensor. At this time, coordinate information indicated on the markers described above may be corresponded in some places of the map. At this time, the map and the position of the user device on the map are displayed, and the image of the ceiling formed on the imaging surface may not be output separately.

According to another aspect of the present invention, there is provided a positioning method for a user equipment, the method comprising the steps of: determining, based on coordinate information of the image included in the at least one marker included in the captured image photographed by the user equipment, . That is, it is possible to know the direction in which the upper side of the user equipment faces.

The method may further include the step of measuring a direction of the user device based on the position and the posture of the first marker in the shot image. At this time, the positioning method of the user equipment according to the embodiment of the present invention may include the step of outputting the bird's-eye view of the direction of the user equipment from the position of the user equipment based on the position of the user equipment and the direction that the user equipment faces . In this case, the bird's-eye view is provided in advance. Here, the bird's-eye view refers to an image that can be seen when a person is naturally looking at the direction of the upper side of the user device while the user device is located.

At this time, in one embodiment of the present invention, the marker has a three-dimensional shape having four faces belonging to different planes, and the information about the orientation and the information about the coordinates are displayed on the four faces . At this time, the marker is not limited to the above-described embodiment and can be implemented in various forms. For example, it can be implemented in a form capable of providing visual information such as a barcode form, a figure, a number, a character, and the like.

Here, the existence of different planes means that there is a plane which is not parallel to the horizontal plane. In the case of recording orientation information such that the plane is directed to a plane that is not parallel to the horizontal plane, this orientation information may not be taken at a specific position.

Further, in one embodiment of the present invention, the image can be detected through, for example, visible light, infrared light, ultraviolet light, or the like, and is not necessarily observed with the naked eye.

A program for measuring the position of the user equipment according to another embodiment of the present invention will be described.

The program for measuring the position of the user equipment according to another embodiment of the present invention is configured to measure the position of the user equipment using one or more markers including image information about the coordinates. At this time, the program for measuring the position of the user equipment may further include a step of setting the position of the user equipment on the basis of the image information about the coordinates of the one or more markers included in the shot image taken by the user equipment Readable medium that includes a program that is configured to perform a measurement step.

In this case, the image information may further include orientation information, and the program may cause the user device to display image information on coordinates and orientation of the one or more markers included in the captured image captured by the user device And a step of measuring the position of the user equipment based on the result of the measurement. In addition, the image information may further include information on orientation, and the program may cause the user device to determine, in the measuring step, a position and a posture of the first marker included in the captured image, And calculating a position of the user equipment based on the position information.

Here, the program may further include the step of measuring, by the user equipment, a direction that the user equipment faces, based on image information about coordinates of the one or more markers included in the shot image taken by the user equipment . The program further causes the user device to perform a step of measuring a direction in which the user device faces the first marker based on the position and posture of the first marker in the captured image.

Hereinafter, a user equipment according to another embodiment of the present invention will be described.

A user equipment according to another embodiment of the present invention includes a photographing unit and a processing unit for measuring a position using one or more markers including image information about coordinates. At this time, the processing unit measures the position of the user equipment on the basis of image information about the coordinates of the one or more markers included in the shot image photographed using the photographing unit. The image processing apparatus according to claim 1, wherein the image information further includes information about a bearing, and the processing unit is configured to determine, based on the image information about the coordinates and the orientation of the one or more markers included in the captured image, And to measure the position of the device. The processing unit is configured to calculate the position of the user device based on a position and a posture of the first marker included in the captured image captured using the photographing unit in the captured image.

Further, the user equipment according to another embodiment of the present invention includes an attitude sensor, and the processing unit may correct the position of the user equipment measured based on the attitude of the user equipment measured by the attitude sensor .

Hereinafter, the invention for providing an indoor navigation device will be described from a different point of view.

Indoor positioning technology is currently being tested using Wifi, Bt, Ultrasound, RFID, and illumination. Many companies have implemented indoor positioning algorithms based on Wifi technology that can be applied to smart phones. However, it is difficult to recognize the self position. The strength of the signal from the AP to the smartphone varies depending on the opening / closing of the door, the movement of the person, the installation of the obstructing structure, and the distance recognized by the smartphone is changed.

As a way to supplement this,

1. Active tag method using NFC of smartphone is a method of reading the signal of current tagged RFID device in smartphone and grasping current position.

2. The NFC method is efficient at the gate passing through the specified zone. Elsewhere, it seems that the installation cost of the tag system, which has to send a signal to the smartphone, will take up a considerable portion.

3. In the underground space beyond the active tag zone such as the gate, the smartphone's location is detected through image recognition. A new two-dimensional barcode designed for this technology is installed on the ceiling and a new technology is applied to position the image using the face-side camera and gyroscope sensor of the smartphone.

4. When the position measurement value comes out, connect it with outdoor map and integrate indoor and outdoor guidance into one. However, the scope of the technical proposal is limited to the application of indoor navigation technology.

The expected service scenarios are:

1. Port the indoor map to the server system.

2. Design the expected installation location on the indoor map.

3. Install a stereoscopic 2D barcode device on the ceiling and the designated location at the expected installation location.

4. Register actual X, Y, Z values for each installed device.

5. Map the indoor map and the actual installation value.

6. Run the smartphone application (face-on camera, gyro sensor on).

7. The camera of the smartphone recognizes the stereoscopic two-dimensional barcode installed at the designated place. The inclination value of the gyro sensor is measured together with the recognized value.

8. The smartphone application's recognition engine finds the current position with the barcode recognition value and calculates the distance of the smartphone from the barcode position to the value of the gyro sensor.

9. The result obtained through the recognition engine shows the current position and direction on the smartphone map.

FIG. 5 illustrates a three-dimensional barcode according to an embodiment of the present invention.
5 (a) shows a screen taken directly above and below the bar code when the 3D bar code is suspended from the ceiling according to an embodiment of the present invention.

5 (b) shows the result of taking the bar code of FIG. 5 (a) in one direction (south, S direction) at a height near the ceiling.

5 (c) shows the result of taking the bar code of FIG. 5 (a) from the height near the ceiling in the other direction (southeast, SE direction).

FIG. 5D shows an example of a pattern of a two-dimensional bar code which can be actually printed on each surface of FIG. 5A.

FIG. 6 illustrates a process of taking a smartphone when a three-dimensional bar code is attached to a ceiling according to an embodiment of the present invention. Whenever the position of the smartphone is changed, the image formed on the image plane of the camera of the smartphone changes.

FIG. 7 is a flowchart illustrating a method of detecting a tilted direction and an angle of a smart phone (user equipment) according to an embodiment of the present invention and correcting the position of the user's device analyzed on the screen, To explain how to do this. For example, when the smartphone is tilted by 17 degrees in one direction, a three-dimensional bar code is formed in the vicinity of the A area in the actual image pickup device, but when the smart bar is corrected using the tilt of the smartphone, .

8 shows an example of an installation procedure of an indoor positioning system using a stereoscopic two-dimensional barcode (three-dimensional barcode).

[MAP] First, we extract the picture using CAD and make a map. You can add POI (Point Of Interest) in the map and add it. You can also complete (indoor) maps by adding collection lines (roads).

[Installation] The barcode can be installed after selecting the installation point of the barcode, installing the structure, and correcting the installed position.

[Coordinate recognition] The barcode is recognized as an image using the smartphone camera, and the recognized barcode is analyzed. At this time, accurate coordinates of the smartphone are extracted by correcting by applying the gyro sensor value.

[Utilization of location information] Based on the extracted coordinates, the current location information can be outputted through the navigation application, that is, the navigation guidance. You can also find the location of other smartphones (friends).

9 is a diagram for explaining the MAP part of the stereoscopic two-dimensional bar code indoor positioning system in detail.

The map matching process is a map interlocking process for indoor navigation production. Extract pictures from CAD drawings to create maps, and investigate / add POI, the destination of navigation. And adds a collection line for the path and signal collection that the user can go. Then, the final map is completed by anticipating the two-dimensional barcode installation point.

Specifically, 1. Create the floor layer as multiple pages, 2. Collect the POI, 3. Construct the roadmap, 4. Select the installation location of the barcode, 5. Install the foundation for installation, and 6 7. Perform primary field testing, 7. Analyze and calibrate the DATA, 8. Perform secondary field testing, and 9. Complete the MAP matching process after completion.

10 is a view for explaining a coordinate recognition method among stereoscopic two-dimensional bar code indoor positioning systems.

The stereoscopic two-dimensional bar code according to an embodiment of the present invention may have various shapes, and may be provided in a flat cylindrical shape as shown on the left side of FIG. At this time, azimuth information indicating the direction in which each side faces the side surface of the cylinder can be printed. 10, when the cylindrical bar code is photographed (scanned) and the information is analyzed by using a photographing module in a user device such as a smart phone in the center of FIG. 10, the registered name, reverse name, location information, POI, And such information can be output through a smartphone application for a customer as shown on the right side of FIG.

11 is a diagram for explaining a method of recognizing coordinates in a stereoscopic two-dimensional bar code indoor positioning system according to an embodiment of the present invention.

The method includes the steps of acquiring a digital image image of 5 frames per second in a smartphone when the application is running, a preprocessing step of removing noise on image information including a noise reduction process, an RGB data value , The recognition step of recognizing the barcode part through the image RGB pattern scanning, the step of extracting the barcode part image for extracting the barcode part image for the inherent barcode recognition, and the analysis of the inherent barcode value using the pixelization etc. A map mapping step of performing current positioning through a triangulation technique using the position of the barcode and the value of the gyroscope according to the barcode value, and the step of outputting the positional information .

FIG. 12 shows an example of an application program for providing a route search function using indoor positioning information obtained by an embodiment of the present invention. In this program, the user is guided in the direction to rotate according to the position and direction of the user.

13 shows an example of an application program for providing a friend searching function using indoor positioning information obtained by an embodiment of the present invention. In this program, the position of the person and friend is displayed on the map, and the straight line distance between two people is also displayed.

The indoor positioning system for recognizing a stereoscopic two-dimensional barcode as an image according to an embodiment of the present invention provides accurate positional information in the room, recognizes the stereoscopic two-dimensional barcode as an image recognition method, enables indoor positioning, You can also find your location information and provide directions.

FIG. 14 shows three images taken while the smartphone is being tilted at the same place with the marker on which the orientation information is recorded according to an embodiment of the present invention. It can be seen that the posture of the photographed marker changes according to the inclination of the smartphone.

FIG. 15 shows three images taken while the marker, on which the orientation information and the coordinate information are recorded, is tilted by the smartphone at the same place according to an embodiment of the present invention. At this time, the marker has a quadrangular pyramid shape, and even if the posture of the smartphone changes, it can be confirmed that the specific surface of the quadrangular pyramid continues to be recognized.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the essential characteristics thereof. The contents of each claim in the claims may be combined with other claims without departing from the scope of the claims.

Claims (29)

A photographing step of photographing a marker on which coordinate information is displayed by a user device including a camera, the marker having a three-dimensional shape having a plurality of planes which are not parallel to a horizontal plane and face different directions, The orientation information relating to the orientation of each of the planes facing the plane is displayed;
When the taken image includes only a part of the orientation information among the plurality of orientation information displayed on the marker, (1) the partial orientation information, (2) the coordinate information of the marker included in the captured image Measuring a position of the user equipment based on a position of the marker in the captured image and a map on which the coordinate information of the marker is mapped; And
Correcting a position of the user equipment measured based on an attitude of the user equipment defined by an inclination of an imaging surface of the camera constituting the camera with respect to a horizontal direction;
/ RTI >
Wherein the azimuth information displayed on each of the planes includes only information on the azimuth direction of each of the respective planes,
A positioning method of a user equipment. The method according to claim 1,
Further comprising the step of measuring a direction in which the user equipment faces, based on the position of the marker in the shot image and the orientation information of the part,
A positioning method of a user equipment. 3. The method of claim 2,
Outputting a bird's-eye view of a direction of the user equipment from a position of the user equipment through a screen of the user equipment based on the measured direction
≪ / RTI >
A positioning method of a user equipment. delete On the user device,
A photographing step of photographing a marker on which coordinate information is displayed by a user device including a camera, the marker having a three-dimensional shape having a plurality of planes which are not parallel to a horizontal plane and face different directions, The orientation information relating to the orientation of each of the planes facing the plane is displayed;
When the taken image includes only a part of the orientation information among the plurality of orientation information displayed on the marker, (1) the partial orientation information, (2) the coordinate information of the marker included in the captured image Measuring a position of the user equipment based on a position of the marker in the captured image and a map on which the coordinate information of the marker is mapped; And
Correcting a position of the user equipment measured based on an attitude of the user equipment defined by an inclination of an imaging surface of the camera constituting the camera with respect to a horizontal direction;
And,
Wherein the azimuth information displayed on each of the planes includes only information on the azimuth direction of each of the respective planes,
A computer-readable medium containing a program. 6. The method of claim 5,
Wherein the program causes the user device to perform:
Measuring a direction in which the user equipment faces, based on the position of the marker in the shot image and the orientation information of the part;
Lt; / RTI >
A computer-readable medium containing a program. 6. The method of claim 5,
Wherein the user equipment further comprises an attitude sensor for measuring an attitude of the user equipment.
A computer-readable medium containing a program. The method according to claim 6,
Wherein the program causes the user device to perform:
Outputting a bird's-eye view of a direction of the user equipment from a position of the user equipment through a screen of the user equipment based on the measured direction
Lt; / RTI >
A computer-readable medium containing a program. delete 1. A user equipment comprising a camera and a processing unit,
Wherein,
Wherein the marker has a three-dimensional shape that is not parallel to a horizontal plane and has a plurality of planes oriented in different directions, and each of the planes has a corresponding The orientation information relating to the orientation in which the plane faces is displayed;
When the taken image includes only a part of the orientation information among the plurality of orientation information displayed on the marker, (1) the partial orientation information, (2) the coordinate information of the marker included in the captured image Measuring a position of the user equipment based on a position of the marker in the captured image and a map on which the coordinate information of the marker is mapped; And
Correcting a position of the user equipment measured based on an attitude of the user equipment defined by an inclination of an imaging surface of the camera constituting the camera with respect to a horizontal direction;
And,
Wherein the azimuth information displayed on each of the planes includes only information on the azimuth direction of each of the respective planes,
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