發(fā)布時(shí)間：2018-06-20 15:50

  本文選題：室內(nèi)定位 + 影像匹配��； 參考：《西安科技大學(xué)》2017年碩士論文

【摘要】：在大數(shù)據(jù)時(shí)代,隨著互聯(lián)網(wǎng)技術(shù)和智能手機(jī)的快速發(fā)展,基于位置的移動(dòng)服務(wù)越來(lái)越深入的進(jìn)入各個(gè)行業(yè)和人們的日常生活中。據(jù)統(tǒng)計(jì),人們80%的時(shí)間處在室內(nèi)環(huán)境中,高精度的室內(nèi)定位能夠給人們帶來(lái)工作和生活的便利,尤其是在博物館、電影院以及商場(chǎng)等室內(nèi)大型場(chǎng)館。針對(duì)傳統(tǒng)室內(nèi)定位方法定位精度低、設(shè)備昂貴、便攜性差等問(wèn)題。本文提出了一種C/S(Client-Server)架構(gòu)下基于影像的空間定位方法。該方法具有精度高、可視化效果好、信息豐富、便攜性強(qiáng)等優(yōu)點(diǎn),成為近年來(lái)室內(nèi)定位領(lǐng)域的研究熱點(diǎn)之一。本文方法的實(shí)現(xiàn)主要分為客戶(hù)端和服務(wù)端兩部分,客戶(hù)端主要負(fù)責(zé)調(diào)用手機(jī)內(nèi)置相機(jī)獲取室內(nèi)定位影像,并將影像傳輸?shù)椒⻊?wù)端,在服務(wù)端中預(yù)先建立物方特征庫(kù),接收上傳的定位影像,計(jì)算定位影像的外方位元素,然后將計(jì)算結(jié)果傳回客戶(hù)端,三維顯示用戶(hù)的位置,完成用戶(hù)室內(nèi)定位。本文主要研究?jī)?nèi)容和創(chuàng)新點(diǎn)如下:(1)、詳細(xì)的介紹了針孔相機(jī)模型和基于共線條件方程描述的相機(jī)模型,分析了現(xiàn)有相機(jī)檢校方法的數(shù)學(xué)模型和檢校精度的優(yōu)劣。利用西安科技大學(xué)室內(nèi)三維相機(jī)檢�？刂茍�(chǎng),獲得相機(jī)內(nèi)方位元素和鏡頭畸變參數(shù)。(2)、采用計(jì)算機(jī)視覺(jué)中SFM(structure from motion)方法計(jì)算像點(diǎn)對(duì)應(yīng)的物方點(diǎn)坐標(biāo)。并將序列影像中特征點(diǎn)及其像點(diǎn)坐標(biāo)、物方點(diǎn)三維坐標(biāo)整理成物方特征庫(kù),為求解定位影像外方位元素提供物方點(diǎn)坐標(biāo)。(3)、定位影像外方位元素的計(jì)算。提取定位影像特征點(diǎn)并與物方特征庫(kù)匹配,獲取物方點(diǎn)坐標(biāo)。通過(guò)最大似然估計(jì)法求出投影矩陣H,然后分解投影矩陣獲得影像外方位元素初始值。最后通過(guò)共線方程精確求解影像的外方位元素。實(shí)驗(yàn)表明,本文中方法能夠達(dá)到厘米級(jí)定位精度,滿足用戶(hù)定位精度的要求。(4)、將三維場(chǎng)景模型和相關(guān)代碼打包成手機(jī)APP軟件,實(shí)現(xiàn)調(diào)用手機(jī)攝像頭拍攝定位影像和三維漫游顯示定位結(jié)果的功能。
[Abstract]:In the era of big data, with the rapid development of Internet technology and smart phone, location-based mobile services are more and more deeply into every industry and people's daily life. According to statistics, people spend 80% of the time in the indoor environment, high precision indoor positioning can bring people work and life convenience, especially in museums, cinemas and shopping malls and other indoor large-scale venues. Aiming at the problems of low precision, expensive equipment and poor portability of traditional indoor positioning methods. In this paper, an image based spatial location method based on C / S Client-Server is proposed. This method has the advantages of high precision, good visualization effect, abundant information and strong portability, and has become one of the research hotspots in the field of indoor positioning in recent years. The realization of this method is mainly divided into two parts: client and server. The client is mainly responsible for calling the built-in camera of mobile phone to obtain the indoor positioning image, and transmitting the image to the server, and establishing the object side signature library in the server in advance. After receiving the uploaded location image and calculating the location elements of the location image, the result is sent back to the client, and the location of the user is displayed in three dimensions to complete the location of the user's room. The main contents and innovations of this paper are as follows: 1. This paper introduces the pinhole camera model and camera model based on collinear conditional equation in detail, and analyzes the mathematical model of the existing camera calibration methods and the advantages and disadvantages of calibration accuracy. By using the control field of 3D camera in Xi'an University of Science and Technology, the azimuth elements and lens distortion parameters of the camera are obtained, and the coordinates of the object points corresponding to the image points are calculated by using the SFM structure from motionof computer vision. The feature points and their coordinates in the sequence images and the three-dimensional coordinates of the object points are arranged into a feature library, which provides the coordinates of the object points and the coordinates of the location images for solving the external orientation elements of the location images, and the calculation of the external orientation elements of the location images. The feature points of the location image are extracted and matched with the object-side feature database to obtain the coordinates of the object-square points. The projection matrix H is obtained by the maximum likelihood estimation method, and then the initial value of the external azimuth element of the image is obtained by decomposing the projection matrix. Finally, the external azimuth element of the image is solved accurately by collinear equation. Experiments show that the method in this paper can achieve centimeter level positioning accuracy and meet the requirements of user positioning accuracy. The 3D scene model and related codes are packaged into mobile phone app software. The function of calling mobile phone camera to shoot location image and three-dimensional roaming display location result is realized.
【學(xué)位授予單位】：西安科技大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類(lèi)號(hào)】：TP391.41;P23

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本文編號(hào)：2044791