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WO2018221950A1 - Dispositif de système de coordonnées en forme de sphère et procédé de calcul d'informations de position utilisant ce dernier - Google Patents

Dispositif de système de coordonnées en forme de sphère et procédé de calcul d'informations de position utilisant ce dernier Download PDF

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Publication number
WO2018221950A1
WO2018221950A1 PCT/KR2018/006132 KR2018006132W WO2018221950A1 WO 2018221950 A1 WO2018221950 A1 WO 2018221950A1 KR 2018006132 W KR2018006132 W KR 2018006132W WO 2018221950 A1 WO2018221950 A1 WO 2018221950A1
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Prior art keywords
coordinate system
system body
axis
camera
mobile device
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English (en)
Korean (ko)
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홍을표
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Individual
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Individual
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
    • G01S1/02—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using radio waves
    • G01S1/68—Marker, boundary, call-sign, or like beacons transmitting signals not carrying directional information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management

Definitions

  • the present invention provides an absolute coordinate and / or relative position of a mobile device having a camera using first to sixth markers displayed on each axis of a spherical coordinate system body and a reference information providing unit that provides diameters and absolute coordinates of the coordinate system body.
  • a spherical coordinate system device capable of extracting coordinates and a positional information calculation method using the same.
  • LBS Location Based Service
  • WiFi wireless data transmission system
  • BLE low-power Bluetooth
  • Such LBS-related technology has been proposed for providing various services in various documents including Korean Patent No. 10-0573191, Korean Patent No. 10-0628971, and Korean Patent No. 10-1610367.
  • LBS can range from relatively simple, such as current location lookup services, nearby building / road information retrieval services, friend finder services, public transportation retrieval services, route guidance services, to unmanned drone services, augmented reality games, and social network services. It appears as a variety of complex services, such as combined.
  • Beacon including WiFi, Pseudo-lite, HP IMES, UWB, Zigbee, Infrared, Ultrasonic, Geomagnetic ( geomagnetism), Camera and VBLC.
  • the camera-based image matching technology which is evaluated to have higher accuracy and precision than other conventional LDTs, requires multiple images for each zone to specify each zone in the room. There is no reality.
  • the present invention is to solve the above-mentioned problems, the first marker to sixth markers displayed on each axis of the spherical coordinate system body and the camera using the diameter and the absolute coordinate of the coordinate system body provided from the reference information providing unit
  • An object of the present invention is to provide a spherical coordinate system device capable of extracting absolute and / or relative coordinates of a mobile device and a method of calculating position information using the same.
  • a spherical coordinate system includes a coordinate system body that provides a reference of three-dimensional spatial coordinates, and has a sphere shape; A first marker displayed at a point where the + X axis of the rectangular coordinate system centering on the centroid of the coordinate system body and the surface of the coordinate system body meet; A second marker displayed at a point where the + Y axis of the rectangular coordinate system centering on the centroid of the coordinate system body and the surface of the coordinate system body meet; A third marker displayed at a point where the + Z axis of the rectangular coordinate system centering on the centroid of the coordinate system body and the surface of the coordinate system body meet; A fourth marker displayed at a point where the -X axis of the rectangular coordinate system centered on the centroid of the coordinate system body and the surface of the coordinate system body meet; A fifth marker displayed at a point where the -Y axis of the rectangular coordinate system centering on the centroid of the coordinate system body meets the surface
  • each of the first to sixth markers has a cross shape in which first and second lines are orthogonal to each other, and the first and second lines are each marked with a direction mark at one end thereof.
  • the first marker displayed on the + X axis is provided in a direction in which the direction indicators of the first line and the second line of the first marker face the + Y axis and the + Z axis on the surface of the coordinate system body, respectively, and the + Y axis
  • the second marker shown in is provided in the direction in which the direction indication symbols of the first line and the second line of the second marker are facing the + Z axis and the + X axis on the surface of the coordinate system body, respectively, and the third mark displayed on the + Z axis.
  • the marker is provided in a direction in which the direction indicators of the first and second lines of the third marker face + X and + Y axes on the surface of the coordinate system body, respectively, and the fourth marker displayed on the -X axis is the first marker.
  • the direction indicators of the first and second lines of the marker On the surface of the coordinate system body is provided in the direction looking to the + Y axis and + Z axis, the fifth marker displayed on the -Y axis is the direction indication code of the first line and the second line of the fifth marker, respectively, the surface of the coordinate system body
  • the sixth markers provided on the + Z axis and the + X axis in the above direction, and the sixth markers indicated on the -Z axis have + X axes on the surface of the coordinate system body, respectively, in which the direction indicators of the first line and the second line of the sixth marker are respectively. And a direction facing the + Y axis.
  • the reference information providing unit may further include partitioning the spherical coordinate system body into + X, + Y, + Z, -X, -Y and -Z axes by the first to sixth markers. It is preferable to mark each of the three zones.
  • the reference information providing unit may be a short range wireless communication device installed inside or outside the coordinate system body to communicate with the mobile device 20 having the camera.
  • the position information calculation method comprises the imaging step of photographing the coordinate system body with a camera mounted on the mobile device having the camera;
  • the distance calculation step may include a first positioning in which the optical axis of the camera passes through the center of the coordinate system body; A second position through which the optical axis of the camera passes through the surface of the coordinate system body at a radial distance from the center of the coordinate system body; A third location through which the optical axis of the camera passes between the center of the coordinate system body and the surface of the coordinate system body; And a fourth position where the optical axis of the camera deviates out of the coordinate system body. The distance between the mobile device having the camera and the camera is measured from the coordinate system body.
  • the step of calculating the distance may be the step of database each of the diameter of the coordinate system body image taken for each distance from the coordinate system body to the camera photographing the coordinate system body; And analyzing a diameter of the coordinate system body image photographed by the camera, and extracting a distance from the coordinate system body to the camera from the databaseized distance information.
  • the calculating of the position may include calculating a two-dimensional circular image of the coordinate system body photographed by the camera, and converting the two-dimensional circular image of the coordinate system body into a sphere; And a camera using the center points of the first to sixth markers included in the two-dimensional circular image of the coordinate system body and the two-dimensional circular image of the coordinate system body viewed from the position photographed by the camera. Comprising a step of calculating the relative position with respect to the coordinate system body of the.
  • a distortion correction method or algorithm suitable for the distortion characteristic for example, the average value of the long and short radius of the two-dimensional circular image is used. It is preferable to further include the step of restoring the complete circular image using a), and providing the restored circular two-dimensional image to the distance calculation or position calculation step.
  • the present invention as described above is provided with a spherical coordinate system body, and displays the first to sixth markers along the rectangular coordinate system on the coordinate system body and the diameter (or radius) of the coordinate system body in the reference information providing unit provided in the coordinate system body and Provides an absolute coordinate value.
  • FIG. 1 is a first installation state diagram of a spherical coordinate system device according to the present invention.
  • FIG. 2 is a second installation state diagram of a spherical coordinate system apparatus according to the present invention.
  • FIG. 3 is a conceptual diagram of a spherical coordinate system according to the present invention.
  • FIG. 4 is a state diagram of use of a spherical coordinate system according to the present invention.
  • FIG. 5 is a first embodiment of a spherical coordinate system according to the present invention.
  • FIG. 6 is a second embodiment of the spherical coordinate system according to the present invention.
  • FIG. 7 is a third embodiment of the spherical coordinate system according to the present invention.
  • FIG. 8 is an exemplary view illustrating the coordinate values of FIG. 7.
  • FIG. 9 is a diagram showing the principle of coordinate calculation using a spherical coordinate system according to the present invention.
  • FIG. 10 is a flowchart illustrating a method of calculating location information according to the present invention.
  • FIG. 11 is a diagram illustrating a location information calculation application according to the present invention.
  • FIG. 12 is a first embodiment showing a distance calculation method in the present invention.
  • Fig. 13 is a second embodiment showing the distance calculation method in the present invention.
  • Fig. 16 is a fourth embodiment showing the distance calculation method in the present invention.
  • 17 is a diagram illustrating a position calculation method in the present invention.
  • FIG. 18 is a diagram illustrating a coordinate calculation method in the present invention.
  • FIG. 19 is a diagram illustrating a location information calculation server according to the present invention.
  • the spherical coordinate system 10 is fixedly installed indoors or outdoors, and includes a mobile device 20 having a camera (hereinafter referred to as a “mobile device”). It is possible to extract the current position information by photographing the coordinate system 10 of the spherical shape.
  • the spherical coordinate system 10 may be installed outdoors in various buildings or relatively large spaces, such as on a roof of a building. Of course, the city is omitted, but may be installed in a room such as a stadium or department store. In addition, it may be inserted into a relatively narrow space such as inside the human body, as in the case of robot surgery.
  • This invention is particularly useful indoors where signal reception conditions of the GPS are poor.
  • the present invention can be applied outdoors, for example, it can be used outdoors for the mobile device 20 without a GPS module.
  • the building is semi-permanently installed in the fixed type, but when inserted into the human body for robot surgery, etc., use a material that is harmless to the human body, preferably may be used to melt away after a certain time.
  • the mobile device 20 may also be applied to smart phones, smart glasses, endoscopes / microscopes, cameras, telescopes, drones, airplanes, commercial or non-commercial robots, and autonomous vehicles.
  • the spherical coordinate system device 10 has a sphere shape.
  • the present invention is focused on the fact that the mobile device 20 can shoot a sphere in any direction, and all are seen as two-dimensional circles with the same difference in perspective.
  • the present invention is a virtual device in which a mobile device 20 is connected from a rectangular coordinate system X, Y, Z having a centripetal Os of the spherical coordinate system 10 as its origin, and a centripetal Os.
  • the line, position and distance L are used to provide the absolute position and / or relative coordinates of the mobile device 20.
  • the spherical coordinate system device 10 includes a coordinate system body 11, a marker 12 consisting of first to sixth markers, and a reference to three-dimensional space coordinates.
  • the reference information providing unit 13 is included.
  • the coordinate system body 11 is formed in a sphere (sphere) shape, the size (diameter) can be adjusted according to the installation position or purpose. For example, the larger the space to cover, the larger one is used.
  • the material of the coordinate system body 11 is not particularly limited, but as an example, a plastic material is used indoors, and a material such as a metal having a low light reflection is used to adapt to an external environment outdoors.
  • the coordinate system body 11 may be made of an opaque material so that the first to sixth markers displayed on the rear part in the direction of looking at the coordinate system body 11 are not projected forward.
  • the marker 12 which is composed of the first to sixth markers, is displayed (or marked) on the outer surface of the coordinate system body 11, and may be printed or drawn using general or special ink, or attached with adhesive tape or pieces. And so on.
  • first to sixth markers represent respective axes of the rectangular coordinate system whose origin is the centroid (Os) of the coordinate system body 11, and the first to sixth markers sequentially + X axis, + Y-axis, + Z-axis, -X-axis, -Y-axis and -Z-axis inform the direction.
  • the first marker is displayed at the point where the + X axis of the rectangular coordinate system having the centroid Os of the coordinate system body 11 as the origin meets the surface of the coordinate system body 11, and the second marker is + Y of the rectangular coordinate system.
  • the third marker is displayed at the point where the surface of the coordinate system body 11 meets the + Z axis of the Cartesian coordinate system.
  • the fourth marker is displayed at the point where the -X axis of the rectangular coordinate system centering on the centroid Os of the coordinate system body 11 and the surface of the coordinate system body 11 meet, and the fifth marker is of the rectangular coordinate system.
  • the sixth marker is displayed at the point where the surface of the coordinate system body 11 and the -Z axis of the rectangular coordinate system meet.
  • the present invention extracts its position using the marker 12 displayed on the coordinate system body 11 regardless of which direction the mobile device 20 photographs the coordinate system body 11 as described with reference to FIG. 3. Make it possible.
  • first to sixth markers can be distinguished from each other, various shapes including cross shapes, dot shapes, special characters, and geometric patterns may be applied, and if necessary, different shapes may be distinguished from each other in the photographed image. Makes it easy.
  • the reference information providing unit 13 is provided in the coordinate system body 11 and provides basic information to the mobile device 20.
  • the basic information provided by the reference information providing unit 13 is an absolute coordinate value based on the centroid (Os) of the coordinate system body 11 and the radius or diameter value of the coordinate system body 11 at the position where the coordinate system body 11 is installed. (Ie size).
  • the coordinate system body 11 has its absolute position different according to the installation place, and if necessary, its size may also vary, so the reference information provider 13 provides these basic information to the mobile device 20.
  • various methods applicable to the basic information including a method of reading an image and a method of short-range wireless communication.
  • the coordinate value is directly displayed as a number (eg, an actual value or a logical value) or displayed as a barcode.
  • the reference information providing unit 13 uses the first to sixth markers to move the coordinate system body 11 to the + X axis, the + Y axis, the + Z axis, and the -X so that the coordinate value can be read out in any direction.
  • Each of the eight zones separated by the axis, -Y axis, and -Z axis should be marked. That is, at least eight reference information providing units 13 including barcodes are required.
  • the short range wireless communication device is installed in the coordinate system body 11 or on or around the surface of the coordinate system body 11. Should be.
  • Bluetooth beacons are low energy (BLE) -based and have the advantage of operating at distances of up to 50 meters.
  • the first marker to the sixth marker as described above may be used a mark such as a simple cross shape (cross shape), respectively, but such marks do not indicate the direction as a vector (vector).
  • the first to sixth markers representing the + X axis, the + Y axis, and the + Z axis have a solid cross shape, but have different colors, and represent -X axis, -Y axis, and -Z axis.
  • the fourth to fourth markers may have a cross shape of a dotted line, but may distinguish six markers by different colors.
  • each marker 12 merely displays its own position, and does not indicate the direction or relative position to another marker by itself. Therefore, a problem occurs when a plurality of markers are not visible at the same time.
  • the center cross CR displayed at the image center of the coordinate system body 11 in FIG. 6 represents the image center of the coordinate system body 11 photographed by the camera at the current position (posture).
  • the coordinate value of the center cross CR is obtained by using the distance (or error from each axis) from each axis to the center cross CR. (E.g. X, Y, Z).
  • the first to sixth markers each have a cross shape in which the first line L and the second line L2 are orthogonal to each other, and the first line L1 and the second line L2, respectively.
  • the first to third markers of the solid line are respectively displayed in different colors (red / green / black), and the fourth to sixth markers of the dotted lines are also displayed in different colors (red / green / black). To make the division easier.
  • first to third markers face the + X, + Y and + Z axes of the Cartesian coordinate in each axis direction, and similarly, the fourth to sixth markers represent the -X, -Y and -Z axes. It uses the shape as viewed from each axis direction.
  • the first marker displayed on the + X axis line has a nodal point between the first line L1 and the second line L2 corresponding to the + X axis, and the first line L1 and the second line ( L2) corresponds to the + Y axis and the + Z axis, respectively, and the direction indication symbol A is provided in the direction toward the + Y axis and the + Z axis, respectively.
  • the first marker displayed on the + X axis has the direction indication symbols A of the first line L1 and the second line L2 facing the + Y axis and the + Z axis on the surface of the coordinate system body 11, respectively. It can be seen that the direction to look.
  • the second marker displayed on the + Y axis has the direction indication symbols A of the first line L1 and the second line L2 facing the + Z axis and the + X axis on the surface of the coordinate system body 11, respectively. It is provided in the viewing direction.
  • the third marker displayed on the + Z axis has the direction indication symbols A of the first line L1 and the second line L2 facing the + X axis and the + Y axis on the surface of the coordinate system body 11, respectively. Is provided in the direction.
  • the fourth marker displayed on the -X axis has the direction indication symbols A of the first line L1 and the second line L2 facing the + Y axis and the + Z axis on the surface of the coordinate system body 11, respectively. Is provided in the direction.
  • the direction indication symbol A is always defined to indicate the direction of the + axis, and the fifth and sixth markers are also the same below.
  • the direction indication symbols A of the first line L1 and the second line L2 face the + Z axis and the + X axis on the surface of the coordinate system body 11, respectively. Is provided in the direction.
  • the sixth marker displayed on the -Z axis has the direction indication symbols A of the first line L1 and the second line L2 facing the + X axis and the + Y axis on the surface of the coordinate system body 11, respectively. Is provided in the direction.
  • the direction indication symbol A displayed on the first line L1 and the second line L2 such that the marker 12 has a cross shape may have any shape including circular dots or square dots in addition to the arrow shapes shown. Can be applied.
  • the direction indication symbol A is always determined to look at the + X axis, the + Y axis, and the + Z axis in the positive direction.
  • two directional signs A adjacent to each other in each marker become 90 ° to each other.
  • the adjacent markers are determined in the order of X-> Y-> Z while rotating in the counterclockwise direction.
  • the-axis it rotates clockwise to judge nearby markers in the order X-> Y-> Z.
  • the center cross CR indicates the center of the image of the coordinate system body 11 photographed by the camera at the current position (posture). In particular, even when there is only one marker as shown in FIG. You can get the coordinate value for).
  • the coordinate value of the virtual center cross CR at the center of the image taken in FIG. 8h may be defined as (X, -Y, 0). Since the first marker in the + X axis direction is seen on the captured image, the first X value may be known.
  • 90 ° formed by the two direction indicators A on the first marker corresponds to a posture rotated counterclockwise (that is, rotated in the ⁇ 90 degree direction).
  • the first line L1) is + Y axis
  • the center cross CR at the center of the image is along the first line L1 (ie, + Y axis direction) provided with the arrow A at the upper side (reference to the drawing) based on the intersection point of the first marker. It is a -Y value because it is slightly spaced downward.
  • the Z component is It can be seen that it is '0'.
  • the first to sixth markers each have a cross shape in which the first line L1 and the second line L2 are orthogonal to each other, and one end portion of the first line L1 and the second line L2 is formed. It can be seen that the X, Y, and Z components (X, -Y, 0) can all be extracted even if only one marker is shown by adopting the ones in which the direction indication symbols (A) are respectively indicated.
  • the present invention calculates the absolute coordinate value and / or relative coordinate value of the mobile device 20 in the state of knowing the absolute coordinate value of the spherical coordinate system device 10 provided through the reference information providing unit (13).
  • the distance 'L' from the first spherical coordinate system device 10 to the mobile device 20 is required.
  • the position of the mobile device 20 looking at the centroid Os of the three-dimensional spherical coordinate system body 11 is specified as a point P, and the point P is a two-dimensional photographed image. It corresponds to the center cross CR (see FIGS. 6 to 8) of an image.
  • the angle with respect to each axis direction is extracted as an acute angle as an example.
  • the virtual line connecting the center and Os to the position Oc of the mobile device 20 can be extended. 20) can be extracted.
  • the position information calculation method using the spherical coordinate system according to the present invention as shown in Fig. 10 is the imaging step (S10), the distance calculation step (S20), the position calculation step (S30) and the coordinate calculation step (S40) ).
  • the imaging step (S10) to take a photograph of the coordinate system body 11 made of a spherical shape with a camera (see 21 in Fig. 11) mounted on the mobile device 20, such as a smart phone possessed by the user.
  • the two-dimensional circular image photographed as described above includes a marker visible at the current position among the markers 12 including the first to sixth markers, and when the reference information providing unit 13 is visually configured such as a barcode, The information provider 13 is also included.
  • the image captured by the camera 21 is signal-processed by the image processing unit 22, and the size (diameter or radius) of the image, the image of the marker 12 and the reference information providing unit 13 Read the image.
  • the spherical coordinate system body 11 may be photographed in a distorted shape (eg, an elliptical shape) according to a unique characteristic of the camera, not a complete circle.
  • a distorted shape eg, an elliptical shape
  • a method of restoring a distorted image by using a mean value of long and short radiuses of a photographed two-dimensional image may be applied.
  • the present invention is not limited thereto and various techniques applicable to other corrections may be applied. can do.
  • the ratio of the diameter (or radius) of the coordinate system body 11 provided from the reference information providing unit 13 and the diameter (or radius) of the coordinate system body image captured by the camera 21 is calculated.
  • the ratio of the distance from the centroid Os of the coordinate system body 11 to the camera lens and the focal length from the camera lens to the imaging surface is calculated.
  • the distance between the centroid Os of the coordinate system body 11 and the mobile device 20 is measured by combining the diameter (or radius) ratio and the distance ratio calculated as described above. More specific examples thereof will be described below with reference to FIGS. 12 to 16.
  • the angle between the virtual line passing through the center point (eg CR) of the surface of the coordinate system body 11 and the + X axis or -X axis at the position photographed by the camera is calculated.
  • the angle is calculated based on the + X axis or the -X axis to be 90 ° or less (acute angle).
  • the relative position with respect to the coordinate system body 11 of the mobile device 20 is calculated by calculating the angle between the imaginary line and the + Y or -Y axis and the angle between the imaginary line and the + Z or -Z axis, respectively. Calculate A more specific example thereof will be described with reference to FIG. 17 below.
  • any one of the distance calculation step S20 and the location calculation step S30 may be processed first. It may be.
  • the absolute coordinates and / or relative coordinates of the mobile device 20 are calculated by combining the absolute coordinate values of (11). A more specific example thereof will be described with reference to FIG. 18 below.
  • the position information calculation method using the spherical coordinate system according to the present invention as described above is mounted in the mobile device 20, such as a smartphone, for example, is executed by an application.
  • the position information calculating application 30 using the spherical coordinate system according to the present invention is stored in the memory of the mobile device 20 and executed by the processor.
  • the distance calculation unit 31, the position calculation unit 32, and the coordinate calculation unit 33 are implemented in the mobile device 20 by the execution of the application 30.
  • the camera 21, the image processing unit 22, the wireless communication unit 23 and the tag recognition unit 24 are basically mounted in the mobile device 20, and these configurations are executed by the execution of the application 30. Interworking takes place.
  • the image processing unit 22 and the tag recognition unit 24 may also be executed by executing the application 30. Can be implemented.
  • the camera 21 photographs the spherical coordinate system body 11.
  • the wireless communication unit 23 communicates with the reference information providing unit 13 when the reference information providing unit 13 included in the coordinate system body 11 is a short-range wireless communication means such as BLE beacon or WiFi. Receive basic information such as the size and absolute coordinate of.
  • the tag recognition unit 24 analyzes the captured barcode image when the reference information providing unit 13 included in the coordinate system body 11 uses an image reading method such as a barcode. Extract the coordinates.
  • the size (diameter or radius) of the coordinate system body 11 among the information confirmed through the wireless communication unit 23 or the tag recognition unit 24 is provided to the distance calculator 31 to move the mobile device 20 from the coordinate system body 11. It is used to calculate the distance L between).
  • the absolute coordinate value of the coordinate system body 11 among the information confirmed through the wireless communication unit 23 or the tag recognition unit 24 is provided to the position calculating unit 32 as described below to provide the position of the mobile device 20. (Direction) used for the calculation of ⁇ x , ⁇ y and ⁇ z .
  • the distance calculating unit 31 is the diameter ratio of the diameter of the coordinate system body 11 and the diameter of the image of the coordinate system body 11 and the distance from the centroid Os of the coordinate system body 11 to the camera lens and from the camera lens to the imaging surface.
  • the distance between the mobile devices 20 is extracted using the ratio of the focal lengths.
  • the position calculator 32 is configured such that the angle between the virtual line passing through the center point CR of the surface of the coordinate system body 11 and the + X axis or -X axis, and the virtual line and the + Y axis or -Y axis
  • the relative position of the mobile device 20 is calculated by calculating the angle and the angle between the imaginary line and the + Z or -Z axis, respectively.
  • the coordinate calculator 33 is a distance between the coordinate system body 11 provided from the distance calculator 31 and the movable device 20, and the relative position and coordinate system body of the movable device 20 provided from the position calculator 32.
  • the absolute coordinates and / or relative coordinates of the mobile device 20 are calculated by combining the absolute coordinate values provided from the reference information providing unit 13 of (11) with each other.
  • the calculation of the distance 'L' as described above is the camera lens from the diameter (ds) of the coordinate system body 11 and the diameter (di) ratio of the image of the coordinate system body 11 and the centroid (Os) of the coordinate system body 11
  • the distance calculation step (S20) of the present invention is classified into first to fourth positioning.
  • the first positioning is the case where the optical axis of the camera passes through the centroid Os of the coordinate system body 11, and the second positioning is the optical axis of the camera from the centripetal Os of the coordinate system body 11 from the coordinate system body 11. This is the case passing through the surface of the coordinate system body 11 at a radial distance of.
  • the third positioning is the case where the optical axis of the camera passes between the centroid Os of the coordinate system body 11 and the surface of the coordinate system body 11, and the fourth positioning is otherwise the optical axis of the camera is the coordinate system body. This is the case where it deviates to the outside of (11).
  • the diameter ds of the coordinate system body 11 in the above equation is a value already known by the reference information providing unit 13, the focal length f between the camera lens and the image plane (image plane) is also of the mobile device 20 A unique specification that is already known.
  • the size d i of the circular coordinate system body 11 captured on the X i / Y i two-dimensional image plane of the camera can be extracted by itself through data processing. Therefore, the distance L value can be calculated using these f, d s and d i values.
  • the optical axis of the camera passes through the surface p of the coordinate system body 11 corresponding to the radius of the coordinate system body 11 from the centroid Os of the coordinate system body 11. Correction is necessary to find the distance L value in the diagonal direction.
  • the radial distance Os (P) of the coordinate system body 11 (the radius is half of the diameter, which is the same as using the diameter in this case as well) and the L value as the base and the height are respectively known. Extract the distance L value.
  • the distance O sn between the centroid Os of the coordinate system body 11 and the point n on the optical axis represents the circular coordinate system body 11 and the optical axis X i captured on the X i / Y i two-dimensional image plane of the camera.
  • the ratio relationship between the lengths h 1 , h 2, and S values as reference can be obtained.
  • O sn (l * s) / f.
  • O sn (l * s) / f.
  • the distance H between the centroid Os of the coordinate system body 11 and the optical axis is determined by the coordinate system body ( 11) and the separation distance between the surface of the coordinate system body 11 and the point P on the optical axis.
  • the distance L value cannot be calculated in the above-described first to third positioning methods.
  • the database diameters of the images of the coordinate system body 11 photographed for each distance from the coordinate system body 11 to the camera photographing the coordinate system body 11 are respectively databased and the coordinate system body 11 photographed by the camera. Analyze the diameter of the image to extract the distance L from the coordinate system body 11 to the camera from the databased distance information.
  • the coordinate system body 11 is formed in a sphere shape, and the sphere has a difference in perspective depending on the distance from the camera. Recall that it looks like a circle.
  • a two-dimensional coordinate system body which is shown in different sizes by distance L (for example, 1 m) selected in advance from the first to third positioning by distance L or by various other methods.
  • the diameter (ds) of the image of (11) is databased and used for the extraction of the distance L, respectively.
  • the position of the mobile device 20 is calculated through the angles ⁇ x , ⁇ y and ⁇ z from each axis of the rectangular coordinate system with respect to the coordinate system body 11.
  • the calculated value means the relative position from the coordinate system body 11 in which the absolute coordinate value is known.
  • the present invention is calculated using a two-dimensional circular image of the coordinate system body 11 captured by the camera at the time of position calculation, the two-dimensional circular image of the coordinate system body 11 to a sphere (sphere) of the three-dimensional image again Converting the image.
  • An image of the coordinate system body 11 photographed by the camera as shown in FIG. 17 is displayed on a two-dimensional image plane, and the images of the first to sixth markers are also included in the image of the coordinate system body 11. Therefore, X-axis, Y-axis, and Z-axis on the coordinate system body 11 are displayed as U-axis, V-axis, and W-axis on the image plane to distinguish each marker after image processing.
  • the center 'O i ' of the coordinate system consisting of the U, V, and W axes may or may not coincide with the center of the image plane (when the photographed image is located at the center of the image plane).
  • the center of the two-dimensional circle coincides with the center of the image plane of the camera. That is, it is assumed that the optical axis of the camera passes through the centroid Os of the coordinate system body 11.
  • the size (i.e., the radius d i / 2) and the length O iU from O i to U of the image (or image converted into a spherical shape) of the captured coordinate system body 11 can be extracted from the processed data.
  • Calculate x sin -1 ((O iU ) / (d i / 2)).
  • ⁇ x sin ⁇ 1 ((O iU ) / (d i / 2))
  • ⁇ y sin ⁇ 1 ((O iV ) / (d i / 2))
  • ⁇ z sin as shown in FIG. 18.
  • the value of ⁇ 1 ((O iw ) / (d i / 2)) as described in FIG. 9 is determined by the coordinates X oc , Y oc , Substituting the equations (1) to (3) to obtain Z oc , respectively, finally calculates the absolute and / or relative coordinates of the mobile device 20.
  • 'L' is the distance from the centripetal point 'O S ' to the movable device position 'O c ' with the camera
  • X o , Y o , Z o are the absolute coordinates of the centripetal point 'O S '
  • the LBS Location Based Service
  • the location information calculation server corresponds to an embodiment showing an environment in which the location information calculation method using the spherical coordinate system according to the present invention is implemented.
  • the position information calculation server 40 replaces the calculation of the coordinate value on the server side so as to reduce the process throughput in the mobile device 20 and to receive the coordinate values precisely and accurately. Can be applied.
  • the mobile device 20 photographs the coordinate system body 11 of the coordinate system device 10, and then displays the identification ID provided from the reference information provider 13 of the coordinate system device 10 together with the captured image. Provided to the calculation server 40.
  • the position information calculation server 40 calculates a coordinate value using the information provided from the mobile device 20, and recalculates the calculated absolute and / or relative coordinate values of the mobile device 20 again. To provide.
  • the location information calculation server 40 includes a server-side database 41, a server-side wireless communication unit 42, a server-side distance calculation unit 43, and a server-side location calculation unit ( 44) and a server-side coordinate calculation unit 45.
  • the server-side database 41 includes the identification ID of each coordinate system device 10 and the diameter of the coordinate system body 11 and the absolute coordinate values of the coordinate system body 11 for each identification ID of the coordinate system device 10. Each basic information is stored.
  • the server-side database 41 at the position information calculation server 40 is provided. And provides the server-side coordinate calculation unit 45 with basic information necessary for calculating the coordinates, such as the absolute coordinate value of the coordinate system device 10 matching the corresponding identification ID, the diameter (or radius) of the coordinate system body.
  • the server-side wireless communication unit 42 receives information about the coordinate system body 11 (that is, the coordinate system body image and identification ID, etc.) from the mobile device 20. In addition, the absolute and / or relative coordinate values of the mobile device 20 are calculated using the received information and transmitted to the mobile device 20.
  • the server-side distance calculator 43 calculates the distance between the coordinate system body 11 and the mobile device 20 using information previously stored in the server-side database 41 and information provided from the mobile device 20.
  • the ratio of the diameter of the coordinate system body 11 and the diameter ratio of the image of the coordinate system body 11 captured by the camera and the distance from the centroid Os of the coordinate system body 11 to the camera lens and the focal length from the camera lens to the imaging surface The ratio is used to calculate the distance L between the coordinate system body 11 and the mobile device 20.
  • the method of calculating the distance L on the server side using such information is the same as the principle or method of calculating the distance L at the distance calculator 31 of the mobile device 20 such as a smartphone as described above.
  • the diameter of the coordinate system body 11 selects and uses information matching the identification ID from the information recorded in the server-side database 41 with reference to the identification ID transmitted from the mobile device 20 to the server 40. .
  • the diameter of the image of the coordinate system body 11 is a server-side distance calculator 43 after processing the image of the coordinate system body 11 transmitted from the mobile device 20 to the server 40 by the server-side image processor 40a. ), Etc.
  • the distance from the centroid Os of the coordinate system body 11 to the camera lens is also signal-processed by the server-side image processor 40a for the image of the coordinate system body 11 transmitted from the mobile device 20 to the server 40.
  • the server side distance calculation unit 43 then extracts the data.
  • the focal length from the camera lens to the imaging surface is provided from the mobile device 20 as one of basic information already known to the mobile device 20 itself as a unique specification of the camera mounted on the mobile device 20.
  • the server-side position calculation unit 44 calculates a relative position with respect to the coordinate system body 11 of the mobile device 20 using information previously stored in the server-side database 41 and information provided from the mobile device 20.
  • the angle between the virtual line passing through the centroid Os of the coordinate system body 11 and the + X or -X axis at the position of the camera, the angle between the virtual line and the + Y or -Y axis, and the virtual The relative position with respect to the coordinate system body 11 of the mobile device 20 is calculated by calculating the angle between the line and + Z axis or -Z axis, respectively.
  • the method of calculating the relative position of the mobile device 20 on the server side using such information may be based on the principle of calculating the relative position in the position calculator 32 of the mobile device 20 such as a smartphone as described above. It's the same way.
  • the angle between the above-mentioned imaginary line and the + X axis / -X axis, the + Y axis / -Y axis, and the + Z axis / -Z axis is the coordinate system body transmitted from the mobile device 20 to the server 40 ( 11), the server side image processor 40a extracts the signal from the server side position calculator 44 and the like.
  • the server-side coordinate calculation unit 45 includes a distance between the coordinate system body 11 and the mobile device 20, a relative position with respect to the coordinate system body 11 of the mobile device 20, and an absolute coordinate value of the coordinate system body 11. Are combined to calculate the absolute and / or relative coordinates of the mobile device 20. The calculated coordinate values are transmitted back to the mobile device 20 through the server-side wireless communication unit 42.
  • the present invention provides various location based services (LBS) by providing absolute coordinates or relative coordinates of a mobile device equipped with a camera by using first to sixth markers displayed on a spherical coordinate system body. To be able.
  • LBS location based services

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

La présente invention concerne un dispositif de système de coordonnées en forme de sphère permettant d'extraire des coordonnées absolues et/ou des coordonnées relatives d'un dispositif mobile comprenant une caméra, à l'aide d'un premier à un sixième marqueur marqués sur des axes respectifs d'un corps de système de coordonnées en forme de sphère et une unité de fourniture d'informations de référence permettant de fournir un diamètre et des coordonnées absolues du corps de système de coordonnées ; et un procédé de calcul d'informations de position utilisant ce dernier.
PCT/KR2018/006132 2017-05-30 2018-05-30 Dispositif de système de coordonnées en forme de sphère et procédé de calcul d'informations de position utilisant ce dernier Ceased WO2018221950A1 (fr)

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KR1020170066551A KR101858488B1 (ko) 2017-05-30 2017-05-30 구 형상의 좌표계 장치와 그를 이용한 lbs 위치 정보 산출 방법, 어플리케이션 및 서버

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