KR20150130121A - System and method for coordinates calculating of target at a long distance - Google Patents

Abstract

The present invention relates to a system and a method for calculating coordinates of a target at a long distance, and more particularly, to a system and a method for calculating coordinates of a target located at a remote location using position information via GPS, attitude information of a terminal through a gyro sensor, To a system and method for calculating the coordinates of a target without directly accessing the target.
According to an aspect of the present invention, there is provided a coordinate calculation system for a long distance target, comprising a position information receiving unit, an attitude information receiving unit, an image information receiving unit, an information storing unit, and a coordinate calculating unit.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a system and a method for calculating coordinates of a remote target,

The present invention relates to a system and a method for calculating coordinates of a target at a long distance, and more particularly, to a system and a method for calculating coordinates of a target located at a remote location using position information via GPS, attitude information of a terminal through a gyro sensor, To a system and method for calculating the coordinates of a target without directly accessing the target.

Generally, a method of detecting three-dimensional positions of image feature points is a method of detecting two luminance data input from sub cameras constituting a stereo camera according to a method of 'matching point determination' pattern matching, and a method of detecting triangulation method And the like are known.

However, the method of detecting the three-dimensional position of the image feature point using the above-described stereo camera is problematic in that it requires a high cost due to the expensive parts installed therein, for example, a sonar, a range sensor, In the case of a detection method using the triangulation method in the latter single camera, most of the known techniques have a problem that the amount of calculation is considerably large and real-time implementation of the algorithm is not easy.

Korean Patent No. 10-0640761, entitled " 3-dimensional position detection method of image feature points based on a single camera ", has been proposed as an example of 3-dimensional position detection technology. Since the prior art uses a single camera, A processing burden can be reduced, and a technique for easily detecting a three-dimensional position of an image feature point using a size coefficient of a feature point and a known 'pinhole camera' model is proposed.

However, the prior art still has a disadvantage in that the amount of calculation is large, and since the position is detected using only the minutiae information in two image frames, there is a problem that accuracy is low.

Korean Registered Patent No. 10-0640761 (Registered on October 25, 2006)

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems of the prior art, and it is an object of the present invention to more efficiently calculate coordinates of a target.

An object of the present invention is to calculate coordinates of a target without directly accessing a target located at a remote location.

According to an aspect of the present invention, there is provided a coordinate calculation system for a long distance target, comprising a position information receiving unit, an attitude information receiving unit, an image information receiving unit, an information storing unit, and a coordinate calculating unit.

The location information receiver receives the location information of the terminal in real time. The attitude information receiving unit receives attitude information of the terminal through a gyro sensor and a geomagnetic sensor. The image information receiving unit obtains image information through a camera of the terminal. The information storage unit stores the coordinates of the target acquired from each of the first acquisition point as one side of the target and the second acquisition point as the other side based on the information received from the position information receiving unit, the attitude information receiving unit, Information and attitude information of the terminal. The coordinate calculation unit calculates the coordinates of the target located at a remote location based on the information stored in the information storage unit, using the trigonometric function and the triangulation method.

The information storage unit may store coordinate information of the target at the first acquisition point obtained when the target and the center point of the target image acquired through the camera of the terminal correspond to each other at the first acquisition point, Position information of the target at the second acquisition point obtained when the target and the center point of the target image obtained through the camera of the terminal correspond to each other at the second acquisition point, / RTI >

Meanwhile, a method for calculating coordinates of a long distance target according to an embodiment of the present invention includes a position information receiving step, an attitude information receiving step, an image information receiving step, an information storing step, and a coordinate calculating step.

The location information receiving step receives the location information of the terminal in real time. The attitude information receiving step receives attitude information of the terminal through a gyro sensor and a geomagnetic sensor. The image information receiving step acquires image information through a camera of the terminal. The information storing step may include a step of storing the information acquired at the first acquisition point, which is one side of the target and the second acquisition point, which is the other side, based on the information received at the position information reception step, the attitude information reception step and the image information reception step Coordinate information of the target, and attitude information of the terminal. The coordinate calculating step calculates the coordinates of the target located at a remote location based on the information stored in the information storing step, using trigonometric functions and triangulation.

The information storage step stores the coordinate information of the target at the first acquisition point acquired when the target and the center point of the target image obtained through the camera of the terminal correspond to each other at the first acquisition point, The coordinate information of the target at the second acquisition point obtained when the target and the center point of the target image obtained through the camera of the terminal correspond to each other at the second acquisition point, Store information.

The present invention relates to a system and method for calculating coordinates of a target at a long distance, and is capable of calculating coordinates of a target without directly accessing a target located at a remote location.

Since the present invention can be implemented in a form that can be attached to a mobile terminal, it is easy to carry.

Since the coordinates of the target are calculated based on the position information through GPS, the attitude information of the terminal through the gyro sensor and the geomagnetic sensor, and the image information through the camera, the coordinates of the target can be more accurately calculated.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a diagram illustrating a coordinate system for calculating coordinates of a long distance target according to an embodiment of the present invention; FIG.
2 is a conceptual diagram of a system and method for calculating coordinates of a long distance target according to an embodiment of the present invention.
3 is a diagram illustrating an example of a coordinate calculation method according to an embodiment of the present invention.
4 is a view showing another example of a coordinate calculation method according to an embodiment of the present invention.
5 is a flowchart illustrating a method of calculating coordinates of a long distance target according to an embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear. In the following description of the embodiments of the present invention, specific values are only examples.

The present invention relates to a system and a method for calculating coordinates of a target at a long distance, and more particularly, to a system and a method for calculating coordinates of a target located at a remote location using position information via GPS, attitude information of a terminal through a gyro sensor, To a system and method for calculating the coordinates of a target without directly accessing the target.

The present invention is preferably implemented using hardware for AR (Augmented Reality) consisting of a gyro sensor, a geomagnetic sensor and GPS. In addition, in the case of a terminal, a portable terminal including a smart phone or a tablet PC, In particular, the terminal of the present invention is preferably provided in a portable form. However, the present invention is not limited thereto, and the terminal may be configured as various types of computing devices as mentioned above. In addition, the present invention can be implemented in a manner of being attached to a mobile PC.

First, the concept of the present invention will be briefly described with reference to FIG.

2 is a conceptual diagram of a system and method for calculating coordinates of a long distance target according to an embodiment of the present invention.

2, the present invention relates to a system and a method for calculating coordinates of a target without directly accessing a target located at a remote location, in which a target (target) is calculated at each of a first acquisition point 30 and a second acquisition point 40 10 and attitude information of the terminal 20, it is possible to calculate the coordinates of the target 10 located at a long distance. Hereinafter, a more detailed process for calculating the coordinates of the target 10 will be described.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a diagram illustrating a coordinate system for calculating coordinates of a long distance target according to an embodiment of the present invention; FIG.

1, the remote target coordinate calculation system 100 of the present invention includes a position information receiving unit 110, an attitude information receiving unit 120, an image information receiving unit 130, an information storage unit 140, (150).

The position information receiving unit 110 receives position information of the terminal 20 in real time. The position information is receivable through a GPS antenna and a GPS receiver.

The attitude information receiving unit 120 receives attitude information and direction information of the terminal 20 through the gyro sensor and the geomagnetic sensor. The present invention uses the gyro sensor and the geomagnetic sensor as well as the position information of the terminal 20 so that the coordinates of the target 10 can be obtained regardless of the position at which the target 10 is located at a certain distance, It is possible to calculate more accurately.

The image information receiving unit 130 acquires image information of the target 10 through the camera of the terminal 20.

The information storage unit 140 stores real-time position information of the terminal 20 received from the position information receiving unit 110, attitude information and direction information of the terminal 20 received from the attitude information receiving unit 120, The coordinates of the target 10 acquired from each of the first acquisition point 30 as one side of the target 10 and the second acquisition point 40 as the other side based on the image information of the target 10 received by the target 10 Information and the attitude information of the terminal 20 are stored.

At this time, the information storage unit 140 stores the information acquired from the first acquisition point 30 acquired when the center 10 of the target image acquired through the camera of the terminal 20 corresponds to the target 10 at the first acquisition point 30 Coordinate information of the target 10 and attitude information of the terminal. The coordinates of the target 10 at the second acquisition point 40 acquired when the center 10 of the target image acquired through the camera of the terminal 20 correspond to the target 10 at the second acquisition point 40 Information and the attitude information of the terminal at this time.

The coordinate calculation unit 150 calculates the coordinates of the target 10 located at a remote location based on the information stored in the information storage unit 140 using the trigonometric function and the triangulation method.

_A,

_A,

_A)라고 한다. 또한, 제2 취득점 B(40)에서의 목표물 C(10)의 좌표는 (x_B, y_B, z_B), 이때 단말기(20)의 자세 정보는 (

_B,

_B,

_B)라고 한다.The position of the first acquisition point 30 is A, the position of the second acquisition point 40 is B, and the position of the target 10 is C for the sake of convenience. The coordinates of the target C 10 are (x ', y', z ') and the coordinates of the target C 10 at the first acquisition point A 30 are (x _A , y _A , z _A ) At this time, the attitude information of the terminal 20 is (

_A,

_A,

_A ). The coordinates of the target C 10 in the second acquisition point B 40 are (x _B , y _B , z _B ), and the attitude information of the terminal 20 is

_B,

_B,

_B ).

Hereinafter, a process for calculating the coordinates of the target 10 located at a long distance will be described with reference to FIGS. 3 to 4. FIG.

3 is a diagram illustrating an example of a coordinate calculation method according to an embodiment of the present invention.

Referring to FIG. 3, the coordinate calculation unit 150 calculates the coordinates of x 'and y' of the unknown point C using the trigonometric function and the triangulation method.

_A로 벡터 AC를 결정하고, 기지점 B의 좌표 x_B, y_B와 미지점 C로의 방향

_B로 벡터 BC를 결정했을 때, 벡터 AC와 벡터 BC의 교차점으로 산출할 수 있다.The x ', y' coordinates of the point C are the coordinates x _A , y _A of the known point _A and the direction

_The vector AC is determined as _A , and the coordinates x _B , y _B of the known point _B and the direction

_{When the} vector BC is determined as _B , it can be calculated as the intersection of the vector AC and the vector BC.

That is, the unknown point x 'can be expressed as in Equation 1 and the unknown point y' can be expressed as in Equation 2.

[Formula 1]

[Formula 2]

이고,

이고,

이다.At this time,

ego,

ego,

to be.

On the other hand, the coordinates of z 'of the unsprung portion C can be described with reference to FIG. 4, and the coordinate calculation portion 150 calculates the coordinates of z' of the unsprung portion C using the trigonometric function and the triangulation method.

4 is a view showing another example of a coordinate calculation method according to an embodiment of the present invention.

_A로 벡터 AC를 결정하고, 기지점 B의 좌표 z_B와 미지점 C로의 방향

_B로 벡터 BC를 결정했을 때, 벡터 AC와 벡터 BC의 교차점으로 산출할 수 있다.The z 'coordinate of the point C is the coordinate z _A of the known point _A and the direction z'

_The vector AC is determined as _A , and the coordinate z _B of the known point _B and the direction z

_{When the} vector BC is determined as _B , it can be calculated as the intersection of the vector AC and the vector BC.

In other words, the point z 'can be expressed as Equation 3.

[Formula 3]

Therefore, the coordinate calculation system 100 of the long distance target can calculate the coordinates (x ', y', z ') of the target C 10 through the above-described Equations 1 to 3, It is possible to calculate the coordinates of the target more accurately without directly accessing the target located in the vicinity of the target.

The following description briefly describes a method for calculating coordinates of a long distance target according to an embodiment of the present invention, based on the above description.

5 is a flowchart illustrating a method of calculating coordinates of a long distance target according to an embodiment of the present invention.

5, in order to calculate coordinates of a target located at a remote location, the position information receiving unit 110 receives position information of the terminal 20 in real time (S510), and the attitude information receiving unit 120 The image information receiving unit 130 receives the image information of the target 10 through the camera of the terminal 20 in step S530 )do.

At this time, the position information receiving unit 110 can receive the position information through the GPS antenna and the GPS receiver, and the attitude information receiving unit 120 can receive the attitude information and the direction information of the terminal 20 through the gyro sensor and the geomagnetic sensor It is possible to calculate the coordinates of the target 10 more accurately regardless of the position, the direction, and the angle of the image of the target 10 located at a remote location.

Next, the information storage unit 140 stores real-time position information of the terminal 20 received from the position information receiving unit 110, attitude information and direction information of the terminal 20 received from the attitude information receiving unit 120, (10) acquired from each of the first acquisition point (30) as one side of the target (10) and the second acquisition point (40) as the other side based on the image information of the target (10) And the posture information of the terminal 20 (S540).

At this time, the information storage unit 140 stores the information acquired from the first acquisition point 30 acquired when the center 10 of the target image acquired through the camera of the terminal 20 corresponds to the target 10 at the first acquisition point 30 Coordinate information of the target 10 and attitude information of the terminal. The coordinates of the target 10 at the second acquisition point 40 acquired when the center 10 of the target image acquired through the camera of the terminal 20 correspond to the target 10 at the second acquisition point 40 Information and the attitude information of the terminal at this time.

Next, the coordinate calculation unit 150 calculates the coordinates of the target 10 located at a remote location based on the information stored in the information storage unit 140 using the trigonometric function and the triangulation method (S550).

The process of calculating the coordinates of the target 10 at this time is described in detail with reference to FIG. 3 to FIG. 4, and will not be described below.

Therefore, the coordinates (x ', y', z ') of the target located at a long distance can be calculated from Equations 1 to 3 described above with reference to FIGS. 3 to 4, It is possible to calculate the coordinates of the target more accurately without approaching.

The coordinate calculation method of the long distance target according to an embodiment of the present invention may be implemented in the form of a program command which can be executed through various computer means and recorded in a computer readable medium. The computer-readable medium may include program instructions, data files, data structures, and the like, alone or in combination. The program instructions recorded on the medium may be those specially designed and configured for the present invention or may be available to those skilled in the art of computer software. Examples of computer-readable media include magnetic media such as hard disks, floppy disks and magnetic tape; optical media such as CD-ROMs and DVDs; magnetic media such as floppy disks; Magneto-optical media, and hardware devices specifically configured to store and execute program instructions such as ROM, RAM, flash memory, and the like. Examples of program instructions include machine language code such as those produced by a compiler, as well as high-level language code that can be executed by a computer using an interpreter or the like. The hardware devices described above may be configured to operate as one or more software modules to perform the operations of the present invention, and vice versa.

As described above, the present invention has been described with reference to particular embodiments, such as specific elements, and specific embodiments and drawings. However, it should be understood that the present invention is not limited to the above- And various modifications and changes may be made thereto by those skilled in the art to which the present invention pertains.

Accordingly, the spirit of the present invention should not be construed as being limited to the embodiments described, and all of the equivalents or equivalents of the claims, as well as the following claims, belong to the scope of the present invention .

10: Target C 20: Terminal
30: first acquisition point A 40: second acquisition point B
100: Coordinate calculation system for long distance targets
110: position information reception unit 120: attitude information reception unit
130: image information receiving unit 140:
150: Coordinate calculation unit

Claims (5)

A position information receiver for receiving position information of a terminal in real time;
An attitude information receiving unit for receiving attitude information of the terminal through a gyro sensor and a geomagnetic sensor;
An image information receiver for acquiring image information through a camera of the terminal;
Based on the information received from the position information receiving unit, the attitude information receiving unit, and the image information receiving unit, coordinate information of the target acquired at each of the first acquisition point as one side of the target and the second acquisition point as the other side, An information storage unit for storing attitude information of the mobile terminal; And
A coordinate calculating unit for calculating the coordinates of the target located at a remote location based on the information stored in the information storage unit using a trigonometric function and a triangulation method;
And a distance calculation unit for calculating coordinates of a target at a long distance. The method according to claim 1,
The information storage unit
The coordinate information of the target at the first acquisition point acquired when the target and the center point of the target image obtained through the camera of the terminal correspond to each other at the first acquisition point,
The coordinate information of the target at the second acquisition point obtained when the target and the center point of the target image obtained through the camera of the terminal correspond to each other at the second acquisition point and the attitude information of the terminal Coordinate calculation system for long distance targets. A position information receiving step of receiving position information of a terminal in real time;
An attitude information receiving step of receiving attitude information of the terminal through a gyro sensor and a geomagnetic sensor;
An image information receiving step of acquiring image information through a camera of the terminal;
Based on the information received in the position information receiving step, the attitude information receiving step, and the image information receiving step, the coordinate information of the target acquired from each of the first obtaining point as one side of the target and the second obtaining point as the other side And an information storage step of storing attitude information of the terminal; And
A coordinate calculating step of calculating coordinates of the target located at a remote location based on the information stored in the information storing step using a trigonometric function and a triangulation method;
Of the target. The method of claim 3,
The information storage step
The coordinate information of the target at the first acquisition point acquired when the target and the center point of the target image obtained through the camera of the terminal correspond to each other at the first acquisition point,
The coordinate information of the target at the second acquisition point obtained when the target and the center point of the target image obtained through the camera of the terminal correspond to each other at the second acquisition point and the attitude information of the terminal A method for calculating coordinates of a long distance target. A computer-readable recording medium having recorded thereon a program for executing the method according to any one of claims 3 to 4.

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