INDOOR POSITIONING SYSTEM AND INDOOR POSITIONING METHOD

專利類型

發明

專利國別 (專利申請國家)

美國

專利申請案號

17/378,778

專利證號

US 11,631,195 B2

專利獲證名稱

INDOOR POSITIONING SYSTEM AND INDOOR POSITIONING METHOD

專利所屬機關 (申請機關)

國立臺灣大學

獲證日期

2023/04/23

技術說明

本發明公開一種室內定位系統及室內定位方法。室內定位方法包括通過目標區域的建築資訊建模(Building Information Modeling, BIM)模型建立影像資料庫，並且使用經訓練深度學習模型提取虛擬影像的特徵； 於目標區域中取得擷取影像後，使用經訓練深度學習模型提取其特徵，並與影像資料庫進行相似度匹配，計算得到最相似影像的空間位置；透過多組特徵點計算最相似影像及其本質矩陣，進而得到擷取影像時的擷取位置及擷取姿態參數以作爲定位結果；將BIM模型投影至追蹤擷取影像，並以視覺慣性里程計更新定位結果與姿態參數；從追蹤擷取影像偵測水平面及垂直面，持續修正定位結果與姿態參數。 An indoor positioning system and an indoor positioning method are provided. The indoor positioning method includes: establishing an image database through a building information modeling (BIM) model of a targeted area, and using a trained deep learning model to extract features of a virtual image; after obtaining a captured image in the targeted area, using the trained deep learning model to extract features of the captured image, and performing similarity matching with the image database to calculate the spatial position of the most similar image; calculating the most similar image and its essential matrix through multiple sets of feature points, and then obtaining the captured position and pose parameters at the time of image capturing as the result of positioning; projecting the BIM model to a tracking captured image, and updating the positioning result and pose parameters with a visual inertial odometer; detecting horizontal and vertical planes from the tracking captured images, and continuously correcting positioning results and pose parameters.

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