Zheng Ping, Qin Danyang, Bai Jianan, Ma Lin
Department of Electronic and Communication Engineering, Heilongjiang University, Harbin 150080, China.
National Mobile Communications Research Laboratory, Southeast University, Nanjing 210096, China.
Micromachines (Basel). 2023 May 23;14(6):1097. doi: 10.3390/mi14061097.
In the process of determining positioning point by constructing geometric relations on the basis of the positions and poses obtained from multiple pairs of epipolar geometry, the direction vectors will not converge due to the existence of mixed errors. The existing methods to calculate the coordinates of undetermined points directly map the three-dimensional direction vector to the two-dimensional plane and take the intersection points that may be at infinity as the positioning result. To end this, an indoor visual positioning method with three-dimensional coordinates using built-in smartphone sensors based on epipolar geometry is proposed, which transforms the positioning problem into solving the distance from one point to multiple lines in space. It combines the location information obtained by the accelerometer and magnetometer with visual computing to obtain more accurate coordinates. Experimental results show that this positioning method is not limited to a single feature extraction method when the source range of image retrieval results is poor. It can also achieve relatively stable localization results in different poses. Furthermore, 90% of the positioning errors are lower than 0.58 m, and the average positioning error is less than 0.3 m, meeting the accuracy requirements for user localization in practical applications at a low cost.
在基于多对极线几何关系所获位置与姿态构建几何关系来确定定位点的过程中，由于存在混合误差，方向向量不会收敛。现有的计算待定点坐标的方法直接将三维方向向量映射到二维平面，并将可能位于无穷远处的交点作为定位结果。为解决此问题，提出了一种基于极线几何的利用智能手机内置传感器获取三维坐标的室内视觉定位方法，该方法将定位问题转化为求解空间中一点到多条直线的距离。它将加速度计和磁力计获取的位置信息与视觉计算相结合，以获得更精确的坐标。实验结果表明，当图像检索结果的源范围较差时，这种定位方法不限于单一特征提取方法。它在不同姿态下也能实现相对稳定的定位结果。此外，90%的定位误差低于0.58米，平均定位误差小于0.3米，以低成本满足了实际应用中用户定位的精度要求。
