Positioning method and positioning system

Patent metadata

Field	Value
Publication number	US-10977824-B2
Application number	US-201916425902-A
Country	US
Kind code	B2
Filing date	May 29, 2019
Priority date	Oct 11, 2018
Publication date	Apr 13, 2021
Grant date	Apr 13, 2021

Abstract

A positioning method and a positioning device are provided. The positioning method includes providing a map database, and obtaining a target image and querying the map database with the target image so as to determine a target coordinate corresponding to the target image.

First claim

What is claimed is:

1. A positioning method for a positioning system, the positioning system comprising a camera, a processor and a storage device coupled to the processor, the positioning method comprising:
capturing, by the camera, a target image and transmitting, by the camera, the target image to the processor;
providing, by the storage device, a map database including a plurality of sample images, wherein each sample image has a corresponding sample coordinate;
executing, by the processor, instructions stored in the storage device, wherein the instructions comprise:
classifying the plurality of sample images of the map database into sample images with high priority and sample images with low priority according to the number of times that each sample image has been queried and determined as a matching sample image and the corresponding sample coordinate of the matching sample image has been determined as a selected target coordinate, wherein the number of times that the corresponding sample coordinate of the sample image with high priority that has been determined as the selected target coordinate is greater than a threshold value, the number of times that the corresponding sample coordinate of the sample image with low priority that has been determined as the selected target coordinate is smaller than or equal to the threshold value; and
receiving the target image from the camera; and
querying the map database with the target image so as to determine a target coordinate corresponding to the target image, comprising:
comparing the target image with the sample images with high priority in the map database and comparing the target image with the sample images with low priority in the map database so as to determine a sample image matching the target image in the plurality of sample images;
obtaining the sample coordinate corresponding to the determined sample image matching the target image and determining the sample coordinate as the target coordinate corresponding to the target image.

2. The positioning method of claim 1 , wherein the step of providing, by the storage device, the map database including a plurality of sample images comprises:
obtaining, by the camera, the plurality of sample images and sensing, by a position detection device, a sample coordinate corresponding to each sample image; and
storing, by the storage device, the plurality of sample images and a plurality of sensing sample coordinates corresponding to the plurality of sample images into the map database.

3. The positioning method of claim 1 , wherein the step of comparing the target image with the sample images with high priority in the map database and comparing the target image with the sample images with low priority in the map database so as to determine the sample image matching the target image in the plurality of sample images comprises:
extracting at least one image feature of the target image; and
comparing the at least one image feature with the sample images with high priority of the map database and comparing the at least one image feature with the sample images with low priority of the map database so as to obtain the sample image matching the target image.

4. A positioning system, comprising:
a storage device, for storing a map database, wherein the map database includes a plurality of map files, each map file includes a sample image and a sample coordinate corresponding to the sample image;
a first camera, for capturing a target image; and
a processor configured to execute instructions stored in the storage device, wherein the instructions comprise:
classifying the plurality of sample images of the map database into sample images with high priority and sample images with low priority according to the number of times that each sample image has been queried and determined as a matching sample image and the corresponding sample coordinate of the matching sample image has been determined as a selected target coordinate, wherein the number of times that the corresponding sample coordinate of the sample image with high priority that has been determined as the selected target coordinate is greater than a threshold value, the number of times that the corresponding sample coordinate of the sample image with low priority that has been determined as the selected target coordinate is smaller than or equal to the threshold value; and
receiving the target image from the camera; and
querying the map database with the target image so as to determine a target coordinate corresponding to the target image, comprising:
comparing the target image with the sample images with high priority in the map database and comparing the target image with the sample images with low priority in the map database so as to determine a sample image matching the target image in the plurality of sample images;
obtaining the sample coordinate corresponding to the determined sample image matching the target image and determining the sample coordinate as the target coordinate corresponding to the target image.

5. The positioning device of claim 4 , further comprising:
a second camera, for capturing a sample image;
a position detection device, for detecting a sample coordinate corresponding to the sample image captured by the second camera; and
a processing device, for storing the sample image and the sample coordinate corresponding to the sample image as a map file and storing the map file into the map database.

6. The positioning device of claim 4 , wherein the instruction of comparing the target image with the sample images with high priority in the map database and comparing the target image with the sample images with low priority in the map database so as to determine the sample image matching the target image in the plurality of sample images comprises:
extracting at least one image feature of the target image and comparing the at least one image feature with the plurality of sample images with high priority of the map database and
comparing the at least one image feature with the plurality of sample images with low priority of the map database so as to obtain the sample image matching the target image.

Assignees

• Acer Inc

Inventors

• Teng Chia-Cheng

Classifications

• G06T7/74 Primary

  involving reference images or patches · CPC title

• G06T2207/10004

  Still image; Photographic image · CPC title

• G06F16/29

  Geographical information databases · CPC title

• G06T2207/20021

  Dividing image into blocks, subimages or windows · CPC title

• G06T2207/30181

  Earth observation · CPC title