CN103697882A - Geographical three-dimensional space positioning method and geographical three-dimensional space positioning device based on image identification - Google Patents
Geographical three-dimensional space positioning method and geographical three-dimensional space positioning device based on image identification Download PDFInfo
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- CN103697882A CN103697882A CN201310687173.0A CN201310687173A CN103697882A CN 103697882 A CN103697882 A CN 103697882A CN 201310687173 A CN201310687173 A CN 201310687173A CN 103697882 A CN103697882 A CN 103697882A
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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
- G01C21/26—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
Abstract
The invention discloses a geographical three-dimensional space positioning method and a geographical three-dimensional space positioning device based on image identification, which can precisely position a garget position without depending on a communication signal. The method comprises the following steps of shooting an actual scene of the position to obtain the image of the current position, matching the shot image of the current position with the image of the current position in a knowledge base to obtain a geographic position coordinate of the current position in the knowledge base, and displaying the current geographic position coordinate on a three-dimensional geographic information system. The method provided by the embodiment of the invention has the advantages that the dependence on the signal receiving of GPS (global position system) and other positioning systems is alleviated, the method is suitable for positioning under the severe communication environment, the position is obtained according to the periphery scene information obtained at current, and the method is close to judgment and searching location of the position performed by human eyes.
Description
Technical field
The present invention relates to field of image recognition, be specifically related to a kind of geographical three-dimensional fix method and apparatus based on image recognition.
Background technology
Image recognition is a forward position interdisciplinary high-tech, is to utilize computing machine that image is processed, analyzed and understands, to identify target and the technology to picture of various different modes.Along with improving constantly of computer hardware technique, Computer Image Processing and recognition technology from 20th century the mid-80 to the end of the nineties, obtained rapidly development, be widely used in industry, agricultural, traffic, finance, geology, ocean, meteorology, biomedicine, military affairs, public security, ecommerce, satellite remote sensing, robot vision, target following, the Autonomous Vehicles navigation field such as communicate by letter with multimedia network information, obtained significant Social benefit and economic benefit.People have been fully recognized that Computer Image Processing and recognition technology are the important means of the understanding world, reforming world now, are the important high-and-new science and technologies of information age 21 century.
Digital image processing techniques start from the 1950's, mainly study that Image Coding and compression, image pre-service, figure image intensifying, image conversion, image recover, image is cut apart and analyze etc.Concerning image processing links, input is image, and after processing, output is also image.Image recognition technology is that the image after above-mentioned processing is classified, and determines item name, the feature that it can select needs to extract on the basis of cutting apart, and some parameter is measured, finally according to measurement result, do classification and identification.
Space orientation is one of important method in geography.Space orientation technique mainly refers to Global Positioning System (GPS) (the Globle Positioning System of the U.S., GPS), Muscovite Global Positioning System (GPS) (Globle Navigation Satellite System, GLONASS), Chinese the Big Dipper and European galileo etc., wherein, GPS is the technology of a kind of combination satellite and Development of Communication, while utilizing Navsat to survey and range finding, there is new generation satellite navigation and the positioning system of the comprehensive real-time three-dimensional navigation of aeroamphibious and station-keeping ability.Use through nearly ten years shows, GLONASS is with features such as round-the-clock, high precision, robotization, high benefits, successfully be applied to the multiple subjects such as geodetic surveying, engineering survey, aeroplane photography, Navigation for Means of Transportation and control, earth movement measurement, engineering project deformation measurement, resources survey, geodynamics, obtained good economic benefit and social benefit.
The weak point of these location technologies is that must there be the reception signal of the positioning systems such as GPS located target location.Yet in field, wilderness, the reception signal that there is no the positioning systems such as GPS or communication environment be extremely badly that often there is something special, in this case, above-mentioned existing location technology will be brought positioning error, even complete failure.
Summary of the invention
The embodiment of the present invention provides a kind of geographical three-dimensional fix method and apparatus based on image recognition, precise positioning is carried out in target location under the prerequisite not relying on signal of communication.
The embodiment of the present invention provides a kind of geographical three-dimensional fix method based on image recognition, and described method comprises:
The actual scene of current position is taken to obtain to the image of current position;
By the image of the current position of described shooting gained is mated with the image of current position in knowledge base, obtain the geographical position coordinates of current position in knowledge base;
The geographical position coordinates of described current position is shown on three-dimensional geographic information system.
Another embodiment of the present invention provides a kind of geographical three-dimensional fix device based on image recognition, and described device comprises:
Image collection module, for taking to obtain the image of current position to the actual scene of current position;
Geographical position coordinates acquisition module, for by the image of the current position of described shooting gained is mated with the image of the current position of knowledge base, obtains the geographical position coordinates of current position in knowledge base;
Coordinate display module, for showing the geographical position coordinates of described current position on three-dimensional geographic information system.
From the invention described above embodiment, on the one hand, owing to being by the image of taking the current position of gained is mated with the image of current position in knowledge base, obtain after the geographical position coordinates of current position in knowledge base, again the geographical position coordinates of current position is shown on three-dimensional geographic information system, this mode has reduced the dependence that the positioning systems such as GPS is received to signal, is applicable to the location under communication environment is severe; On the other hand, the method providing by the embodiment of the present invention, can rely on the information of the current surrounding scene of obtaining just to learn position, and this method is the judgement and search location for position close to human eye more also.
Accompanying drawing explanation
Fig. 1 is the basic procedure schematic diagram of the geographical three-dimensional fix method based on image recognition that provides of the embodiment of the present invention;
Fig. 2 is the geographical three-dimensional fix device logical organization schematic diagram based on image recognition that the embodiment of the present invention provides;
Fig. 3 is the geographical three-dimensional fix device logical organization schematic diagram based on image recognition that another embodiment of the present invention provides;
Fig. 4-a is the geographical three-dimensional fix device logical organization schematic diagram based on image recognition that another embodiment of the present invention provides;
Fig. 4-b is the geographical three-dimensional fix device logical organization schematic diagram based on image recognition that another embodiment of the present invention provides.
Embodiment
The embodiment of the present invention provides a kind of geographical three-dimensional fix method based on image recognition, comprising: the image of the actual scene of current position being taken to obtain to current position; By the image of the current position of described shooting gained is mated with the image of current position in knowledge base, obtain the geographical position coordinates of current position in knowledge base; The geographical position coordinates of described current position is shown on three-dimensional geographic information system.The embodiment of the present invention also provides the corresponding geographical three-dimensional fix device based on image recognition.Below be elaborated respectively.
The basic procedure of a kind of geographical three-dimensional fix method based on image recognition of the embodiment of the present invention can be with reference to figure 1, mainly comprises the steps that S101 is to step S103:
S101, takes to obtain the image of current position to the actual scene of current position.
In embodiments of the present invention, can adopt portable image capture equipment, the actual scene of current position be taken to obtain to the image of current position.For example, can adopt the portable image capture equipment such as smart mobile phone with shoot function, panel computer, the actual scene of current position is taken to obtain to the image of current position, certainly, can adopt professional image capture device the actual scene of current position to be taken to obtain the image of current position, the present invention does not limit obtaining the mode of the image of current position yet.
S102, by the image of taking the current position of gained is mated with the image of current position in knowledge base, obtains the geographical position coordinates of current position in knowledge base.
From the positioning systems such as existing GPS need receiving communication signal different be, the embodiment of the present invention does not also rely on the reception signal of the positioning systems such as GPS, but by the image of taking the current position of gained is mated with the image of current position in knowledge base, obtain the geographical position coordinates of current position in knowledge base, specifically comprise the steps S1021 to S1023:
S1021, intersects contrast by having image in the image of taking the current position of gained and knowledge base.
In embodiments of the present invention, knowledge base is a database of setting up by expert system.So-called expert system is an intelligent computer programming system, and knowledge and experience that certain a large amount of domain expert's levels is contained in its inside can utilize human expert's knowledge and the method for dealing with problems to process this field question.That is to say, expert system is one and has a large amount of special knowledge and the programming system of experience, its using artificial intellectual technology and computer technology, the knowledge and experience providing according to the one or more experts in certain field, carry out reasoning and judgement, simulating human expert's decision process, to solve the challenge that those need human expert to process, in brief, expert system is the computer programming system that a kind of simulating human expert solves field question.The knowledge base that the embodiment of the present invention provides, it adopts expert system, preserves the image in each geographic position on the earth.Therefore, can intersect contrast by having image in the image of taking the current position of gained and knowledge base.
S1022, by image matching algorithm, finds the existing image the highest with the image similarity of current position in knowledge base.
In embodiments of the present invention, image matching algorithm can be any one or its combination adopting based in the relevant matching algorithm of gray scale, matching algorithm based on feature and the matching algorithm based on relation, wherein, the matching algorithm relevant based on gray scale is comparatively conventional, the matching effect of the matching algorithm based on feature is best, but complicated, the consuming time length of algorithm, the matching algorithm based on relation is set up semantic network, is the application of artificial intelligence technology in image is processed.The embodiment of the present invention can, according to actual conditions, be selected a kind of algorithm wherein or several algorithms are combined to use.
S1023, is defined as the geographical position coordinates with the highest existing image of the image similarity of current position the geographical position coordinates of current position.
In the image matching algorithm of above-mentioned steps S1022 example, similarity to be abandoned lower than 80% result data, result is not for there is no matching result.To similarity, be 80% or higher than 80% result data, can get maximal value wherein, and the geographic position using its geographic location as current position.
S103 shows the geographical position coordinates of current position on three-dimensional geographic information system.
So-called three-dimensional geographic information system (Geographic Information System/Geo-Information System, GIS), being called again " learn infosystem " or " environment and resources information system ", is a kind of specific very important space information system.GIS is under computing machine hardware and software system is supported, to the relevant geographic distribution data in epigeosphere (comprising atmospheric envelope) space all or in part gather, store, the technological system of management, computing, analysis, demonstration and description.Particularly, in embodiments of the present invention, the geographical position coordinates of current position is shown on three-dimensional geographic information system to can be the geographical position coordinates of current position is shown on the virtual three-dimensional earth and locate.
The geographical position coordinates of current position is shown on three-dimensional geographic information system, just can allow human eye locate is based on such fact,, people's recognition capability is very strong, the change of the change of image distance or image active position on sense organ, all can cause the change of the size and shape of image on retina, even in this case, people still can recognize them and go over the image that consciousness crosses, and even image recognition can not be subject to the restriction of sensory channel.For example, people can use word soon, and when others is when his back writes, he also can recognize this word.Image recognition technology may be to take the principal character of image to be basis.Each image has its feature, and for example, alphabetical A has a point, and P has a circle, and there is individual acute angle etc. at the center of Y.During to image recognition, the research of eye movement shows, sight line always concentrates in the principal character of image, namely concentrates on the place of image outline curvature maximum or contour direction flip-flop, and these local quantity of information are maximum.And the scanning route of eyes also always forwards to another feature from a feature successively.As can be seen here, in image recognition processes, perceptual mechanism must be got rid of the redundant information of input, extracts crucial information out.Meanwhile, must have the mechanism of a responsible integrate information in brain, it can become a complete consciousness map the finish message obtaining stage by stage.In mankind's image identification system, to the identification of complicated image, often to could realize by the information processing of different levels.For familiar figure, owing to having grasped its principal character, it will be used as to a unit and identify, and no longer note its details.The whole unit that this unit material by isolating forms is called chunk, and each chunk is simultaneously perceived.In the identification of written material, people not only can form a chunk the unit such as the stroke of a Chinese character or radical, and can often together the word of appearance or phrase in groups block unit identified.
The geographical three-dimensional fix method based on image recognition providing from the invention described above embodiment, on the one hand, owing to being by the image of taking the current position of gained is mated with the image of current position in knowledge base, obtain after the geographical position coordinates of current position in knowledge base, again the geographical position coordinates of current position is shown in three dimensions Geographic Information System, this mode has reduced the dependence that the positioning systems such as GPS is received to signal, is applicable to the location under communication environment is severe; On the other hand, the method providing by the embodiment of the present invention, can rely on the information of the current surrounding scene of obtaining just to learn position, and this method is the judgement and search location for position close to human eye more also.
To describing for carrying out the geographical three-dimensional fix device based on image recognition of the embodiment of the present invention of the above-mentioned geographical three-dimensional fix method based on image recognition, its basic logical structure is with reference to accompanying drawing 2 below.For convenience of explanation, the geographical three-dimensional fix device based on image recognition of accompanying drawing 2 examples only shows the part relevant to the embodiment of the present invention, mainly comprise image collection module 201, geographical position coordinates acquisition module 202 and coordinate display module 203, each module is described in detail as follows:
In embodiments of the present invention, image collection module 201 can be portable image capture equipment.For example, can adopt the portable image capture equipment such as smart mobile phone with shoot function, panel computer, the actual scene of current position is taken to obtain to the image of current position, certainly, can adopt professional image capture device the actual scene of current position to be taken to obtain the image of current position, the present invention does not limit obtaining the mode of the image of current position yet.
Geographical position coordinates acquisition module 202, for by the image of taking the current position of gained is mated with the image of the current position of knowledge base, obtains the geographical position coordinates of current position in knowledge base.
From the positioning systems such as existing GPS need receiving communication signal different be, the embodiment of the present invention does not also rely on the reception signal of the positioning systems such as GPS, but geographical position coordinates acquisition module 202 is by the image of taking the current position of gained is mated with the image of current position in knowledge base, obtains the geographical position coordinates of current position in knowledge base.
So-called three-dimensional geographic information system (Geographic Information System/Geo-Information System, GIS), being called again " learn infosystem " or " environment and resources information system ", is a kind of specific very important space information system.GIS is under computing machine hardware and software system is supported, to the relevant geographic distribution data in epigeosphere (comprising atmospheric envelope) space all or in part gather, store, the technological system of management, computing, analysis, demonstration and description.
It should be noted that, in the embodiment of the geographical three-dimensional fix device based on image recognition of above accompanying drawing 2 examples, the division of each functional module only illustrates, can be as required in practical application, for example the facility of the configuration requirement of corresponding hardware or the realization of software is considered, and being distributed, above-mentioned functions completed by different functional modules, the inner structure that is about to the described geographical three-dimensional fix device based on image recognition is divided into different functional modules, to complete all or part of function described above.And, in practical application, corresponding functional module in the present embodiment can be to be realized by corresponding hardware, also can be completed by the corresponding software of corresponding hardware implement, for example, aforesaid image collection module, can be to have to carry out the hardware that the aforementioned actual scene to current position takes to obtain the image of current position, image grabber for example, thus can be also to carry out general processor or other hardware devices that corresponding computer program completes aforementioned function; For another example aforesaid geographical position coordinates acquisition module, can be have carry out aforementioned by the image of taking the current position of gained is mated with the image of current position in knowledge base, obtain the hardware of the geographical position coordinates function of current position in knowledge base, geographical position coordinates getter for example, thus can be also to carry out general processor or other hardware devices (each embodiment that this instructions provides can apply foregoing description principle) that corresponding computer program completes aforementioned function.
The geographical position coordinates acquisition module 202 of accompanying drawing 2 examples can comprise contrast unit 301, matching unit 302 and determining unit 303, the geographical three-dimensional fix device based on image recognition that another embodiment of the present invention provides as shown in Figure 3, wherein:
In embodiments of the present invention, knowledge base is a database of setting up by expert system.So-called expert system is an intelligent computer programming system, and knowledge and experience that certain a large amount of domain expert's levels is contained in its inside can utilize human expert's knowledge and the method for dealing with problems to process this field question.That is to say, expert system is one and has a large amount of special knowledge and the programming system of experience, its using artificial intellectual technology and computer technology, the knowledge and experience providing according to the one or more experts in certain field, carry out reasoning and judgement, simulating human expert's decision process, to solve the challenge that those need human expert to process, in brief, expert system is the computer programming system that a kind of simulating human expert solves field question.The knowledge base that the embodiment of the present invention provides, it adopts expert system, preserves the image in each geographic position on the earth.Therefore, contrast unit 301 can intersect contrast by having image in the image of taking the current position of gained and knowledge base.
Matching unit 302, for by image matching algorithm, finds the existing image the highest with the image similarity of current position in knowledge base.
In embodiments of the present invention, image matching algorithm can be any one or its combination adopting based in the relevant matching algorithm of gray scale, matching algorithm based on feature and the matching algorithm based on relation, wherein, the matching algorithm relevant based on gray scale is comparatively conventional, the matching effect of the matching algorithm based on feature is best, but complicated, the consuming time length of algorithm, the matching algorithm based on relation is set up semantic network, is the application of artificial intelligence technology in image is processed.In embodiments of the present invention, matching unit 302 can be selected a kind of algorithm wherein or several algorithms are combined to use according to actual conditions.
Determining unit 303, for being defined as the geographical position coordinates with the highest existing image of the image similarity of current position the geographical position coordinates of current position.
In the image matching algorithm of above-mentioned matching unit 302 examples, similarity to be abandoned lower than 80% result data, result is not for there is no matching result.To similarity, be 80% or higher than 80% result data, determining unit 303 can be got maximal value wherein, and the geographic position using its geographic location as current position.
The coordinate display module 203 of accompanying drawing 2 or accompanying drawing 3 examples can comprise shows positioning unit 401, the geographical three-dimensional fix device based on image recognition that another embodiment of the present invention provides as shown in accompanying drawing 4-a or accompanying drawing 4-b.Show that positioning unit 401 for showing the geographical position coordinates of current position and locating on the virtual three-dimensional earth.
It should be noted that, the contents such as the information interaction between each module/unit of said apparatus, implementation, due to the inventive method embodiment based on same design, its technique effect bringing is identical with the inventive method embodiment, particular content can, referring to the narration in the inventive method embodiment, repeat no more herein.
One of ordinary skill in the art will appreciate that all or part of step in the whole bag of tricks of above-described embodiment is to come the hardware that instruction is relevant to complete by program, this program can be stored in a computer-readable recording medium, storage medium can comprise: ROM (read-only memory) (ROM, Read Only Memory), random access memory (RAM, Random Access Memory), disk or CD etc.
The geographical three-dimensional fix method and apparatus based on the image recognition above embodiment of the present invention being provided is described in detail, applied specific case herein principle of the present invention and embodiment are set forth, the explanation of above embodiment is just for helping to understand method of the present invention and core concept thereof; , for one of ordinary skill in the art, according to thought of the present invention, all will change in specific embodiments and applications, in sum, this description should not be construed as limitation of the present invention meanwhile.
Claims (8)
1. the geographical three-dimensional fix method based on image recognition, is characterized in that, described method comprises:
The actual scene of current position is taken to obtain to the image of current position;
By the image of the current position of described shooting gained is mated with the image of current position in knowledge base, obtain the geographical position coordinates of current position in knowledge base;
The geographical position coordinates of described current position is shown on three-dimensional geographic information system.
2. method according to claim 1, is characterized in that, the image that the described actual scene to current position takes to obtain current position comprises:
Adopt portable image capture equipment, the actual scene of current position is taken to obtain to the image of current position.
3. method according to claim 1, is characterized in that, describedly by the image of the current position of described shooting gained is mated with the image of current position in knowledge base, obtains the geographical position coordinates of current position in knowledge base, comprising:
Existing image in the image of the current position of described shooting gained and knowledge base is intersected to contrast;
By image matching algorithm, find existing image the highest with the image similarity of described current position in described knowledge base;
The geographical position coordinates of the highest existing image of the image similarity of described and described current position is defined as to the geographical position coordinates of current position.
4. according to the method described in claims 1 to 3 any one, it is characterized in that, described the geographical position coordinates of described current position is shown and comprised on three-dimensional geographic information system:
The geographical position coordinates of described current position is shown on the virtual three-dimensional earth and locate.
5. the geographical three-dimensional fix device based on image recognition, is characterized in that, described device comprises:
Image collection module, for taking to obtain the image of current position to the actual scene of current position;
Geographical position coordinates acquisition module, for by the image of the current position of described shooting gained is mated with the image of the current position of knowledge base, obtains the geographical position coordinates of current position in knowledge base;
Coordinate display module, for showing the geographical position coordinates of described current position on three-dimensional geographic information system.
6. device according to claim 5, is characterized in that, described image collection module, specifically for adopting portable image capture equipment, is taken to obtain the image of current position to the actual scene of current position.
7. device according to claim 5, is characterized in that, described geographical position coordinates acquisition module comprises:
Contrast unit, for intersecting the existing image of the image of the current position of described shooting gained and knowledge base contrast;
Matching unit, for by image matching algorithm, finds existing image the highest with the image similarity of described current position in described knowledge base;
Determining unit, for being defined as the geographical position coordinates of the highest existing image of the image similarity of described and described current position the geographical position coordinates of current position.
8. according to the device described in claim 5 to 7 any one, it is characterized in that, described coordinate display module comprises:
Show positioning unit, for the geographical position coordinates of described current position being shown on the virtual three-dimensional earth and locating.
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