QR Indoor Positioning Method using Smartphone with QR code

摘要

An indoor positioning method using a smartphone and a QR code is introduced. To this end, the present invention comprises the steps of (a) performing calibration to measure the distance and angle between the camera and the QR code; (b) detecting the direction of the camera toward the QR code; wherein the step (a) is characterized in that the calibration is performed using the following equation (1), (1) P _i = K ㆍB ㆍP _w = K ㆍ[R ｜t]ㆍP _w (In the above equation, P _i represents a point on the plane in 2D, K is an internal parameter, E is an external parameter, and P _w represents a point in 3D) The step (b) is characterized in that the following equation (2) is used. (2) P _c = RP _s + T, P _s = R ^-1 (P _c -T) (When the world coordinate for a point P _w in 3D space is P _s in the above equation, the coordinates in the camera are P _c , the rotation transformation matrix is R, and the equilibrium movement vector is T)