QR Indoor Positioning Method using Smartphone with QR code

摘要

Disclosed is an indoor positioning method using a smartphone and a QR code. To this end, the indoor positioning method comprises: a step (a) of performing calibration to measure the distance and the angle between a camera and a QR code; and a step (b) of detecting the direction of the camera towards the QR code. The step (a) performs calibration by using equation (1), P_i = K·B·P_w = K·[R¦t]·P_w in which P_i represents a point in a two-dimensional plane, K represents an internal parameter, E represents an external parameter and P_w represents a point in three dimensions. The step (b) performs calibration by using equation (2), P_c = RP_s+T, P_s = R^-1(P_c-T) in which, when the world coordinate for a point P_w in three-dimensional space is P_s, the coordinate at the camera is P_c, the rotation transformation matrix is R and the equilibrium movement vector is T. According to the present invention, it is possible to obtain location information in real time.