Method and Apparatus For Map Constructing And Map Correcting Based On Light-Emitting Device

A method for map correcting based on light-emitting device, wherein the method comprises:

• moving a mobile electronic device to a reference coordinate point obtained in initial calibration process, recording a third pixel position A3 and a forth pixel position A4 on CCD/CMOS respectively related to centers of spot marks directly emitted by any two of light emitting devices;
• calculating deviation distance of the mobile electronic device according to a map coordinate system as Ldeviation=(A3−A1)*L′, based on distance of each pixel L′ in the map coordinate system obtained in the initial calibration process and pixel differences between the third pixel position A3 and a first pixel position A1 correspondingly obtained in the initial calibration process;
• recording angle α2 between the third pixel position A3 and the fourth pixel position A4, and obtaining deviation angle αdeviation=α2−α1 based on angle α1 between the pixel position A1 and a second pixel position A2;
• and
• correcting coordinate values on constructed map based on the deviation distance Ldeviation and the deviation angle αdeviation.

An apparatus for map constructing based on light-emitting device, wherein the apparatus is applicable for real-time mapping of a to-be-localized area, upper part of the to-be-localized area is provided with light-emitting device, the apparatus is a mobile electronic device and the apparatus comprises:

• a camera, configured to collect spot mark directly emitted by light-emitting device;
• a coordinate system constructing and recording unit, configured to take a position of a mobile electronic which is moving along a certain trajectory as a coordinate origin of a map coordinate system, when a center of a spot mark emitted by a first light-emitting device and collected by the camera of the mobile electronic device coincides with central point of CCD/CMOS, and record information of the spot mark of the first light-emitting device and corresponding coordinate values;
• an encoder, configured to record a moving distance and a moving direction of the mobile electronic device relative to a starting point in real time through gyroscope when the mobile electronic device traverses the entire to-be-localized area with the coordinate origin as the starting point;
• an obstacle detecting unit, configured to detect obstacles;
• a first calculating unit, configured to calculate coordinate values of the location of each said obstacle based on the moving direction and the moving distance of the mobile electronic device relative to the starting point recorded by the encoder when the mobile electronic device detects any one of the obstacle, and send the calculated coordinate values to the coordinate system constructing and recording unit;
• and
• a map constructing unit, configured to construct a map according to information of spot mark and corresponding coordinate values and the coordinate values of the location of each said obstacle recorded by the coordinate system constructing and recording unit.

An apparatus for map correcting based on light-emitting device, wherein the apparatus comprises:

• deviation distance calculating unit, configured to move a mobile electronic device to a reference coordinate point obtained in initial calibration process, recording a third pixel position A3 and a forth pixel position A4 on CCD/CMOS respectively related to centers of spot marks directly emitted by any two of light emitting devices;
• calculate deviation distance of the mobile electronic device according to a map coordinate system as Ldeviation=(A3−A1)*L′, based on distance of each pixel in the map coordinate system obtained by the initial calibration process and pixel differences between the third pixel position A3 and a first pixel position A1 obtained in the initial calibration process;
• deviation angle calculating unit, configured to record angle α2 between the third pixel position A3 and the fourth pixel position A4, and obtaining deviation angle αdeviation=α2−α1 based on angle α1 between the pixel position A1 and a second pixel position A2;
• and
• correcting unit, configured to correct coordinate values on constructed map based on the deviation distance Ldeviation and the deviation angle αdeviation.