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WO2016050385A1 - Terminal mobile et procédé de détermination de l'orientation d'un terminal mobile - Google Patents

Terminal mobile et procédé de détermination de l'orientation d'un terminal mobile Download PDF

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Publication number
WO2016050385A1
WO2016050385A1 PCT/EP2015/067466 EP2015067466W WO2016050385A1 WO 2016050385 A1 WO2016050385 A1 WO 2016050385A1 EP 2015067466 W EP2015067466 W EP 2015067466W WO 2016050385 A1 WO2016050385 A1 WO 2016050385A1
Authority
WO
WIPO (PCT)
Prior art keywords
mobile terminal
pattern
mha
orientation
determining
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2015/067466
Other languages
German (de)
English (en)
Inventor
Asa Macwilliams
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Siemens AG
Siemens Corp
Original Assignee
Siemens AG
Siemens Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens AG, Siemens Corp filed Critical Siemens AG
Priority to EP15745186.5A priority Critical patent/EP3170016A1/fr
Publication of WO2016050385A1 publication Critical patent/WO2016050385A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
    • G01S5/163—Determination of attitude
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/536—Depth or shape recovery from perspective effects, e.g. by using vanishing points

Definitions

  • the invention relates to a mobile terminal and a procedural ⁇ ren for orientation determination at a mobile terminal.
  • WLAN Wireless Local Area Network
  • detect Bluetooth signals using the ge ⁇ -measured signal strength, for example using triangulation methods or lookup tables for determining the position.
  • a mobile terminal Under the orientation of a mobile terminal, in the following either one measured at a current position absolute indication of direction with respect to a Referenzorientie ⁇ tion, such as a compass direction, such as north, understood, or a relative indication of direction in which the mobile Endge ⁇ advises a fixed reference point is moved with respect.
  • a Referenzorientie ⁇ tion such as a compass direction, such as north, understood
  • a relative indication of direction in which the mobile Endge ⁇ advises a fixed reference point is moved with respect.
  • An inertial navigation allows a measurement of movements in space in six kinematic degrees of freedom, of which three translational and three
  • An inertial navigation system requires a double integration of acceleration measurements and a simple integration of angular velocity measurements.
  • a typically strong sensor drift and mathematically REQUIRED ⁇ che cross-coupling of orthogonal sensor axes result in significant errors in the orientation determination with influence that a cumulative effect with time progresses.
  • the present invention is faced with the task of creating With ⁇ tel, which provide an alternative or additional orientation determination at a mobile terminal.
  • the mobile terminal according to the invention comprises
  • an image acquisition unit for detecting an environment of the mobile terminal, for extracting line-like patterns from the detected environment and for determining a master main axis from the line-like patterns
  • a retrieval unit for retrieving a Mustersburgachsenversat ⁇ zes as an angle difference between the pattern of major axis and a reference orientation at the specific position
  • an orientation determination unit for determining an angle sum from the pattern main axis offset and the device offset.
  • the object is further achieved by a procedural ⁇ ren with the features of the patent claim. 5
  • the inventive method for orientation determination on a mobile terminal comprises the following steps:
  • the object is further achieved by a computer program product having the features of patent claim 11.
  • the Compu ⁇ terprogramm is executed in a processor of a mobile terminal, wherein the method executes with the execution.
  • an orientation determination is advantageously provided, which achieves a high accuracy in comparison with other orientation determination methods while avoiding the drift or jitter problems known in the prior art.
  • Figure 1 is a schematic representation of the approach determination Orientie ⁇ a mobile terminal used in a horizon axes system;. and;
  • FIG. 1 shows a Cartesian coordinate system-in the following also a horizontal system-consisting of an abscissa x and an ordinate y whose origin P corresponds to a determined position of a mobile terminal MEG.
  • at least one image acquisition unit arranged in the mobile terminal detects an environment of the mobile terminal.
  • the detection of the environment takes place in an advantageous manner by an image acquisition unit directed at a floor.
  • This direction to the floor corresponds advantageous ⁇ manner a natural orientation of a built-in commercial mobile terminals on the rear imaging unit or camera, when an operator holds the mobile terminal while standing in the hand and, disposed on the opposite against ⁇ front display unit considered the mo ⁇ bilen terminal.
  • the arranged on the back of the image capture unit is directed in commercial mobile Endgerä ⁇ th in the opposite direction to the display unit and usually serves an audiovisual recording of the environment with simultaneous possibility of viewing the recorded environment.
  • the detection of the environment is carried out by a directed to a ceiling of the environment images ⁇ supervisedsaku.
  • This direction on the ceiling advantageously corresponds to a natural orientation of a direction towards the display unit of the mobile terminal.
  • directed imaging unit when an operator holds the mobile terminal in the hand while looking at a display unit of the mobile terminal.
  • the aligned in the direction of the Ad ⁇ gene unit of the mobile terminal Bilderfas- sungsaku corresponds to a camera, which will normally detect the face of the operator to perform a Audiovisual ⁇ len communication.
  • Line-like patterns M are extracted from the detected environment according to the invention, which are sketched by way of example in the drawing and are shown obliquely above the horizon system for reasons of clarity.
  • regular patterns in tile joints, ceiling joints, parquet planks, strips in linoleum floors, weave patterns in carpets, ceiling light tubes and their reflections on granite floors, etc. are abstracted using pattern recognition methods and the line-shaped pattern M is extracted.
  • the Erfas ⁇ solution of wall patterns or baseboards is conceivable.
  • the line-like pattern M has been extracted from a tile joint pattern, wherein the tiles have an elongated rectangular base.
  • a pattern main direction MHA is extracted.
  • the pattern mainstream MHA corresponds to the present example of an acquired tile joints pattern of L Lucas ⁇ union joint direction.
  • the line-like pattern M was, however, of a - not shown - extracted tile grout pattern in which Flie- sen having a square base, a eindeu ⁇ term pattern MHA main direction is not clearly determined. From the two possible directions orthogonal to one another, a pattern main direction MHA is determined by selection and an orientation determination based thereon is corrected, if appropriate using orientations determined by other methods. In the case of a hexagonal or more complex base of a - not shown - tile joint pattern or
  • the pattern main direction MHA can be determined by a geometric center of gravity determination of the individual lines whose individual centers of gravity are extrapolated with a respec ⁇ ge line.
  • the geometric mean of Li ⁇ nien then also leads in this case to a unique pattern MHA main direction or, as in the above case orthogonal, at least only ambiguous patterns main direction MHA.
  • the mobile terminal in the already described attitude in which the operator holds the mobile terminal standing in his hand and a display unit of the mobile terminal ⁇ considered tet is usually not aligned parallel to the ground, so that the line-like pattern M is first detected with a distortion which is caused by a relative to the horizontal plane of the Horizontsystems tilted and / or tilted image plane of the image acquisition unit.
  • Ge ⁇ Switzerland one embodiment of the invention is therefore provided to detect a detection of a tilt and / or tilt angle of a plane passing through a principal axis of the mobile terminal ground plane of the mobile terminal with respect to the Horizontalebe- ne and on the basis of the tilt and / or tilt angle Correction of the line-like pattern M or the pattern main axis MHA make.
  • a determination of an overall illerversatzes GEV which corresponds to an angular difference between a main axis of the mobile terminal MEG GHA and the pattern ⁇ major axis MHA at the designated position P is effected.
  • This angular difference can be taken directly from a geographical determination of the line-like pattern M in the image plane of the detection unit or the pattern main axis MHA in the image plane of the detection unit.
  • GHA axis of the mobile terminal MEG corresponds to the Gerätver ⁇ set GEV.
  • a sample main axis offset MHV is retrieved as an angular difference between the master pattern axis MHA and a reference orientation RFO at the determined position P.
  • the retrieval of corresponding data occurs either from a terminal-internal or an external data source, in the latter case by any wireless Interface of the mobile terminal MEG. Instead of a complex wireless data communication connection, this data can also be received by Bluetooth or
  • WiFi beacons may be included which are sent by local transmitters for orientation in the building.
  • the data contains an indication as to which angular difference between the master pattern axis MHA of the linear pattern M and a reference orientation RFO, for example in the natural language:
  • the joints in the space at the given position P are arranged 10 degrees west of the north direction.
  • an internal fetch data ge ⁇ Häss an embodiment of the invention it is provided that the environment is detected with an initialization process. For example, a floor pattern will match the one on the mobile "Initialize" the initialization procedure carried out on the terminal MEG in order to generate corresponding data in the terminal-internal data source.
  • a request to the operator of the mobile terminal MEG be provided to align the mobile terminal MEG in a known orientation, for example, along a corridor. Even without measuring floor patterns, it can be assumed in many cases that the main lines of the floor pattern run parallel or at right angles to a wall of the room.
  • an orientation determining unit ei ⁇ ne sum of the angles from the pattern principal axis offset MHV and the device offset GEV which leads to the orientation LOCATION finally.
  • an orientation ORT of 35 degrees from the reference orientation RFO is determined from an angle sum of the pattern main axis offset MHV having a value of 15 degrees and the device offset GEV having a value of 20 degrees.
  • the orientation of the mobile terminal MEG thus corresponds to a 35 degree direction in the northwest direction, according to one of the mathematical information given by reversed sign windrope information so - 35 degrees to the northwest.
  • the major axis of GHA of the mobile terminal MEG and the reference orientation RFO are single ⁇ Lich their respective direction Horizon system of interest, while their respective length - in vectorial Be ⁇ case: the amount of which - is irrelevant.
  • the axes MHA, GHA, RFO referred to herein may be referred to as a unit vector.
  • the means according to the invention alone ensure an orientation determination of a mobile terminal, it is provided according to a preferred embodiment to combine the means for orientation determination known today with the agents according to the invention and in this way to refine and / or solidify the orientation determination.
  • the currently known methods for orientation determination are performed using data supplied by magnetic sensors and / or inertial sensors.
  • the preferred embodiment is in vorteilhaf ⁇ ter way, the disadvantages of this known Orientie ⁇ tion determination - ie in particular the above-mentioned disadvantages such as sensor drift, complex calculation of a Wienkopp ⁇ ment of orthogonal sensor axes, cumulatively with increasing time deviations, magnetic interference by power lines, etc. metal walls - to correct, refine and - ensure verläss ⁇ Liche orientation determination over longer periods of time - in view of the known effects of sensor drift.
  • the interaction with known orientation determination methods according to this preferred embodiment has the advantage of making an initially indefinite or ambiguous pattern main direction MHA unambiguously determinable by using the known "coarse" orientation determination methods in conjunction with the preferred embodiment Design to arrive at more precise and time-stable orientation data.
  • FIG. 2 shows a schematic representation of selected functional components in a mobile terminal according to an embodiment of the invention.
  • the mobile terminal includes not only a non MEG Darge ⁇ set - position determining unit for determining a position of the mobile terminal MEG imaging unit BEF, a control unit STE, wherein the determination unit BSE for determining the displacement device GEV, the Abrufein- unit ARE for retrieving the pattern main axis offset MHA and the orientation determination unit OBE of the position.
  • a mobile terminal MEG also has other - not shown - functional units, such as a wireless interface ⁇ , another provided on the opposite side images ⁇ capture unit and internal terminal-internal memory.
  • the functional units mentioned are either implemented within the control unit STE as software routines or as separate and cooperative hardware components.
  • the present invention comprises a method for orientation determination on a mobile terminal.
  • a device offset (GEV) as the angular difference between a major axis (GHA) of the mobile terminal and the master pattern axis (MHA) at the determined position (P) is determined.
  • a main pattern ⁇ axial offset (MHV) is the main axis as an angle difference between the pattern (MHA) and a reference orientation (RFO) at the designated position (P) retrieved.
  • an angle sum is determined from the pattern principal axis offset (MHV) and the device offset (GEV).

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Electromagnetism (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Navigation (AREA)

Abstract

La présente invention comprend un procédé de détermination de l'orientation d'un terminal mobile. Selon l'invention, on effectue la détermination d'une position (P) du terminal mobile (MEG), la détection d'un environnement du terminal mobile, l'extraction de motif linéaire (M) de l'environnement détecté et la détermination d'un axe principal de motif (AHM) à partir des motifs linaires (M). Un déplacement de l'appareil (GEV) est défini comme étant une différence angulaire entre un axe principal (GHA) du terminal mobile, et l'axe de motif principal (MHA) à la position déterminé (P). En outre, on recherche un décalage d'axe de motif principal (MHV) en tant que différence angulaire entre l'axe de motif principal (MHA) et une orientation de référence (ORP) à la position déterminé (P). Enfin, on effectue la détermination d'une somme angulaire du décalage d'axe de motif principal (MHV) et du décalage d'appareil (GEV).
PCT/EP2015/067466 2014-09-30 2015-07-30 Terminal mobile et procédé de détermination de l'orientation d'un terminal mobile Ceased WO2016050385A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP15745186.5A EP3170016A1 (fr) 2014-09-30 2015-07-30 Terminal mobile et procédé de détermination de l'orientation d'un terminal mobile

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102014219798.8 2014-09-30
DE102014219798.8A DE102014219798A1 (de) 2014-09-30 2014-09-30 Mobiles Endgerät und Verfahren zur Orientierungsbestimmung an einem mobilen Endgerät

Publications (1)

Publication Number Publication Date
WO2016050385A1 true WO2016050385A1 (fr) 2016-04-07

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2015/067466 Ceased WO2016050385A1 (fr) 2014-09-30 2015-07-30 Terminal mobile et procédé de détermination de l'orientation d'un terminal mobile

Country Status (3)

Country Link
EP (1) EP3170016A1 (fr)
DE (1) DE102014219798A1 (fr)
WO (1) WO2016050385A1 (fr)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5051906A (en) * 1989-06-07 1991-09-24 Transitions Research Corporation Mobile robot navigation employing retroreflective ceiling features
WO2006065563A2 (fr) * 2004-12-14 2006-06-22 Sky-Trax Incorporated Procede et appareil de determination de la position et l'orientation rotative d'un objet
EP1876417A1 (fr) * 2005-04-25 2008-01-09 Alps Electric Co., Ltd. Capteur d'inclinaison et dispositif de determination de direction utilisant ledit capteur
EP2392990A2 (fr) * 2010-06-02 2011-12-07 Sony Computer Entertainment Inc. Entrée pour dispositif informatique utilisant une vision informatique à base de motifs
WO2013184131A1 (fr) * 2012-06-08 2013-12-12 Intel Corporation Dispositif, système et procédé d'estimation d'orientation d'un dispositif mobile

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5051906A (en) * 1989-06-07 1991-09-24 Transitions Research Corporation Mobile robot navigation employing retroreflective ceiling features
WO2006065563A2 (fr) * 2004-12-14 2006-06-22 Sky-Trax Incorporated Procede et appareil de determination de la position et l'orientation rotative d'un objet
EP1876417A1 (fr) * 2005-04-25 2008-01-09 Alps Electric Co., Ltd. Capteur d'inclinaison et dispositif de determination de direction utilisant ledit capteur
EP2392990A2 (fr) * 2010-06-02 2011-12-07 Sony Computer Entertainment Inc. Entrée pour dispositif informatique utilisant une vision informatique à base de motifs
WO2013184131A1 (fr) * 2012-06-08 2013-12-12 Intel Corporation Dispositif, système et procédé d'estimation d'orientation d'un dispositif mobile

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
CORD T ET AL: "Error control navigation codes for autonomous mobile robots", INTELLIGENT ENGINEERING SYSTEMS, 1997. INES '97. PROCEEDINGS., 1997 IE EE INTERNATIONAL CONFERENCE ON BUDAPEST, HUNGARY 15-17 SEPT. 1997, NEW YORK, NY, USA,IEEE, US, 15 September 1997 (1997-09-15), pages 141 - 146, XP010254473, ISBN: 978-0-7803-3627-8, DOI: 10.1109/INES.1997.632407 *
NAMATAME SHOGO ET AL: "Navigation method of a mobile robot in daily life environment considering environmental design", PROCEEDINGS OF THE 2013 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION, IEEE, 15 December 2013 (2013-12-15), pages 167 - 172, XP032580080, DOI: 10.1109/SII.2013.6776659 *

Also Published As

Publication number Publication date
EP3170016A1 (fr) 2017-05-24
DE102014219798A1 (de) 2016-03-31

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