Patent Description:
Recently, navigation using a mobile terminal is more invigorated than a navigation device embedded in a vehicle.

When not getting on a vehicle, a user carries the mobile terminal in his/her bag or pocket, and if he/she gets on the vehicle, the mobile terminal is hold in the vehicle and used as a navigation device.

Meanwhile, in recent years, the development of augmented reality navigation has been actively conducted. Furthermore, research for implementing augmented reality navigation in mobile terminal has been also conducted.

However, in the mobile terminal, the location or posture of the mobile terminal is changed whenever it is hold in the vehicle. Accordingly, there is a problem in that the image photographed by a camera is not uniform.

<CIT> relates to generating a virtual model of environment in front of a vehicle based on images captured using an image capturing.

<CIT> relates to a navigation device including a display, a recording medium, a navigation camera, a global positioning system (GPS), and a processor.

<CIT> relates to an apparatus to increase navigation guidance efficiency using a camera image, and to a method thereof.

In order to solve the above problems, an object of the present disclosure is to provide a mobile terminal that displays an augmented reality navigation screen including an AR graphic object and a calibrated front image.

Another object of the present disclosure is to provide a method of operating a mobile terminal displaying an augmented reality navigation screen including an AR graphic object and a calibrated front image.

The problems of the present disclosure are not limited to the problems mentioned above, and other problems that are not mentioned will be clearly understood by those skilled in the art from the following description.

In order to achieve the above object, according to an embodiment of the present disclosure, a mobile terminal that provides an augmented reality navigation screen in a state of being hold in a vehicle, includes: at least one camera configured to obtain a front image; a display; and at least one processor configured to calibrate the front image, and to drive an augmented reality navigation application so that the augmented reality navigation screen including at least one augmented reality (AR) graphic object and the calibrated front image is displayed on the display.

According to an embodiment of the present disclosure, the processor crops a first area in which at least a portion of the vehicle is located in the front image, and the at least a portion of the vehicle includes at least one of a bonnet, a roof, an A-pillar, a dashboard, and a holder.

According to an embodiment of the present disclosure, the at least one camera includes: a first camera configured to obtain the front image; and a second camera configured to obtain a wide-angle image in comparison with the first camera, wherein the processor determines a balance of top, bottom, left and right of the front image, based on at least one of a horizontal line passing through a vanishing point detectable in the front image and a vertical line passing through the vanishing point, and determines whether to use the wide-angle image, based on the balance.

According to an embodiment of the present disclosure, the at least one camera includes: a first camera configured to obtain the front image; and a second camera configured to obtain a wide-angle image in comparison with the first camera, wherein the processor overlays a first AR graphic object on a point of the front image corresponding to a first object detected from the front image, and determines whether to use the wide-angle image, based on a location of the first AR graphic object in the front image.

According to an embodiment of the present disclosure, the processor positions a left-right vanishing line detectable in the front image in a center of vertical direction of the navigation screen.

According to an embodiment of the present disclosure, the mobile terminal further includes; a gyroscope sensor configured to generate first sensing data; and an acceleration sensor configured to generate second sensing data, wherein the mobile terminal determines a holding tilt value, based on the first sensing data and the second sensing data, and compensates the holding tilt value on the navigation screen.

According to an embodiment of the present disclosure, when receiving at least one of a home button input signal and other application execution input signal, the processor deactivates the camera and drives the augmented reality navigation application in a background.

According to an embodiment of the present disclosure, when obtaining vehicle stop state information, the processor deactivates the camera and drives the augmented reality navigation application to display a navigation screen excluding the front image and the AR graphic object.

According to an embodiment of the present disclosure, when obtaining vehicle moving state information after a vehicle stop state, the processor activates the camera and calibrates a front image obtained from the activated camera based on calibration data prior to deactivation of the camera.

Details of other embodiments are included in the detailed description and drawings.

According to the present disclosure, there are one or more of the following effects.

First, when a mobile terminal is hold in a vehicle, there is an effect of providing an augmented reality navigation screen based on a front image that is calibrated without a separate setting.

Second, whenever a mobile terminal is hold in the vehicle, it is not necessary to adjust the posture of the mobile terminal or to perform manual calibration.

Third, even when a user gets on various types of vehicles, there is an effect of relieving the hassle of setting each time.

The effects of the present disclosure are not limited to the effects mentioned above, and other effects not mentioned can be clearly understood by those skilled in the art from the description of the claims.

Hereinafter, the embodiments disclosed in the present specification will be described in detail with reference to the accompanying drawings, and the same or similar elements are denoted by the same reference numerals even though they are depicted in different drawings and redundant descriptions thereof will be omitted. In the following description, with respect to constituent elements used in the following description, the suffixes "module" and "unit" are used or combined with each other only in consideration of ease in the preparation of the specification, and do not have or serve as different meanings. Accordingly, the suffixes "module" and "unit" may be interchanged with each other. In addition, the accompanying drawings are provided only for a better understanding of the embodiments disclosed in the present specification and are not intended to limit the technical ideas disclosed in the present specification. Therefore, it should be understood that the accompanying drawings include all modifications, equivalents and substitutions included in the scope of the appended claims.

Although the terms "first," "second," etc., may be used herein to describe various components, these components should not be limited by these terms. These terms are only used to distinguish one component from another component. When a component is referred to as being "connected to" or "coupled to" another component, it may be directly connected to or coupled to another component or intervening components may be present. In contrast, when a component is referred to as being "directly connected to" or "directly coupled to" another component, there are no intervening components present.

As used herein, the singular form is intended to include the plural forms as well, unless the context clearly indicates otherwise.

In the present application, it will be further understood that the terms "comprises", includes," etc. specify the presence of stated features, integers, steps, operations, elements, components, or combinations thereof, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

In the following description, the left side means the left side in the forward driving direction of a vehicle, and the right side means the right side in the forward driving direction of a vehicle.

<FIG> is a block diagram of a mobile terminal according to an embodiment of the present disclosure.

Referring to <FIG>, a mobile terminal <NUM> may include a portable phone, a smart phone, a laptop computer, a digital broadcasting terminal, a personal digital assistants (PDA), a portable multimedia player (PMP), a navigation system, a slate PC, a tablet PC, an ultrabook, wearable device (e.g., a smartwatch, a smart glass, a head mounted display (HMD)), and the like.

The mobile terminal <NUM> may provide an augmented reality navigation screen while being hold in a vehicle. The mobile terminal <NUM> may be hold inside the vehicle such that a display <NUM> faces the cabin of the vehicle and at least one camera <NUM> faces the front of the vehicle.

The mobile terminal <NUM> may include a wireless communication unit <NUM>, at least one camera <NUM>, a gyroscope sensor <NUM>, an acceleration sensor <NUM>, a display <NUM>, a memory <NUM>, at least one processor <NUM>, and a power supply unit <NUM>.

The mobile terminal <NUM> may further include a wireless communication unit including a broadcast reception module, a mobile communication module, a wireless Internet module, a short-range communication module, and a location information module. The mobile terminal <NUM> may further include an input unit including a microphone and a user input unit. According to an embodiment, the camera <NUM> may be classified as a sub-element of the input unit. The mobile terminal <NUM> may further include a sensing unit including a proximity sensor and an illuminance sensor. The mobile terminal <NUM> may include an output unit including an audio output unit, a haptic module, and an optical output unit. According to an embodiment, the display <NUM> may be classified as a sub-element of the output unit. The mobile terminal <NUM> may further include an interface unit for exchanging power or data with other device.

The wireless communication unit <NUM> may include one or more modules that enable a wireless communication between the mobile terminal <NUM> and a wireless communication system, between the mobile terminal <NUM> and other mobile terminal <NUM>, or between the mobile terminal <NUM> and an external server. The wireless communication unit <NUM> may include one or more modules that connect the mobile terminal <NUM> to one or more networks.

The wireless communication unit <NUM> transmits and receives a wireless signal with at least one of a base station, an external terminal, and a server on a mobile communication network built according to technical standards or communication methods for mobile communication (e.g. Global System for Mobile communication (GSM), Code Division Multi Access (CDMA), Code Division Multi Access <NUM> (CDMA2000), Enhanced Voice-Data Optimized or Enhanced Voice-Data Only (EV-DO), Wideband CDMA (WCDMA), High Speed Downlink Packet Access (HSDPA), High Speed Uplink Packet Access (HSUPA), Long Term Evolution (LTE), Long Term Evolution-Advanced (LTE-A, <NUM>), and the like).

The camera <NUM> may process an image frame such as a still image or a moving image obtained by an image sensor. The processed image frame may be displayed on the display unit <NUM> or stored in the memory <NUM>. The camera <NUM> includes at least one of a camera sensor (e.g. CCD, CMOS, etc.), a photo sensor (or image sensor), and a laser sensor.

The camera <NUM> may obtain a front image of the vehicle. The obtained front image of the vehicle may be stored in the memory <NUM> or transmitted to the processor <NUM>. The camera <NUM> may be activated or deactivated based on a control signal generated by the processor <NUM>.

The camera <NUM> may include a first camera and a second camera.

The first camera may obtain a front image of the vehicle. The first camera may obtain a narrow angle image in comparison with the second camera. The first camera may be disposed around the second camera. The first camera may be activated or deactivated based on a control signal generated by the processor <NUM>.

The second camera may obtain a front image of the vehicle. In a deactivated state, the second camera may be activated according to a request signal from the processor <NUM> to obtain a front image. The second camera may obtain a wide-angle image in comparison with the first camera. The second camera may be activated or deactivated based on a control signal generated by the processor <NUM>.

The gyroscope sensor <NUM> may allow the mobile terminal <NUM> to measure the angular velocity of the mobile terminal <NUM>. The gyroscope sensor <NUM> may generate first sensing data based on the measured angular velocity.

The acceleration sensor <NUM> may measure the acceleration of the mobile terminal <NUM>. The acceleration sensor <NUM> may generate second sensing data based on the measured acceleration.

The display <NUM> displays (outputs) information processed by the mobile terminal <NUM>. For example, the display unit <NUM> may display execution screen information of an application program driven in the mobile terminal <NUM>, or User Interface (UI) and Graphic User Interface (GUI) information according to the execution screen information.

The display unit <NUM> may include at least one of a liquid crystal display (LCD), a thin film transistor-liquid crystal display (TFT LCD), an organic light-emitting diode (OLED), a flexible display, a 3D display, and an e-ink display.

In addition, two or more display units <NUM> may exist according to the implementation form of the mobile terminal <NUM>. In this case, in the mobile terminal <NUM>, a plurality of display units may be spaced apart from or integrally disposed on one surface, or may be disposed on different surfaces respectively.

The display unit <NUM> may include a touch sensor that senses a touch on the display unit <NUM> so as to receive a control command by a touch method. Using this, when a touch is accomplished for the display unit <NUM>, the touch sensor detects the touch, and based on this, the processor <NUM> may be configured to generate a control command corresponding to the touch. The content input by the touch method may be letters or numbers, or menu items that can be indicated or designated in various modes. As described, the display unit <NUM> may form a touch screen together with a touch sensor, and in this case, the touch screen may serve as a user input unit.

The memory <NUM> stores data supporting various functions of the mobile terminal <NUM>. The memory <NUM> may store a number of application programs or applications driven by the mobile terminal <NUM>, data for operation of the mobile terminal <NUM>, and commands. At least some of these application programs may be downloaded from an external server through wireless communication. In addition, at least some of these application programs may exist in the mobile terminal <NUM> from the time of delivery for the basic function (e.g. call receipt, outgoing functions, message reception and outgoing functions) of the mobile terminal <NUM>. Meanwhile, the application program may be stored in the memory <NUM>, installed in the mobile terminal <NUM>, and driven by the processor <NUM> to perform an operation (or function) of the mobile terminal.

The memory <NUM> may store a program for the operation of the processor <NUM>, and may temporarily store input/output data (e.g. a phone book, a message, a still image, a moving image, etc.). The memory <NUM> may store data on vibration and sound of various patterns that are output when a touch input on the touch screen is accomplished.

The memory <NUM> may include at least one type of storage medium among a flash memory type, a hard disk type, a solid state disk (SSD) type, a silicon disk drive (SDD) type, a multimedia card micro type, a card-type memory (e.g., SD or XD memory, etc), a random access memory (RAM), a static random access memory (SRAM), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a programmable read-only memory (PROM), a magnetic memory, a magnetic disk, and an optical disk. The mobile terminal <NUM> may be operated in connection with a web storage that performs a storage function of the memory <NUM> over the Internet.

The processor <NUM> may be electrically connected to the camera <NUM>, the gyroscope sensor <NUM>, the acceleration sensor <NUM>, the display <NUM>, the memory <NUM>, and the power supply unit <NUM> to exchange signals. The processor <NUM> may be implemented by using at least one of application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), processors, and controllers, micro-controllers, microprocessors, and electrical units for performing other functions. The processor <NUM> may be driven by power provided from the power supply unit <NUM>.

The processor <NUM> controls the overall operation of the mobile terminal <NUM>. The processor <NUM> may provide or process appropriate information or functions to a user by processing the above input or output signals, data, information, etc., or by driving an application program stored in the memory <NUM>.

The processor <NUM> may receive a front image of the vehicle.

The processor <NUM> may calibrate the front image.

The processor <NUM> may perform calibration by cropping the front image. In the front image, areas that are unnecessary for the configuration of the navigation screen may exist. The processor <NUM> may remove these unnecessary areas. The processor <NUM> may crop a first area where at least a portion of the vehicle is located in the front image. Here, at least a portion of the vehicle may include at least one of a bonnet, a roof, an A-pillar, a dashboard, and a holder. The processor <NUM> may crop the first area based on image processing using a histogram.

The processor <NUM> may output navigation related information to the cropped area. For example, the processor <NUM> may display at least one of time information, location information, information of road being driven, departure point information, departure time information, destination information, information of distance remaining to destination, information of time remaining to the destination, and estimated arrival time information, on the cropped area.

The processor <NUM> may perform calibration by using a wide-angle image. The processor <NUM> may determine the balance of top, bottom, left and right of the front image, based on at least one of a horizontal line passing through a vanishing point detectable in the front image acquired by the first camera and a vertical line passing through the vanishing point. The processor <NUM> may determine whether to use the wide-angle image obtained by the second camera, based on the balance of top, bottom, left and right of the front image. The processor <NUM> may overlay a first AR graphic object on a point of the front image corresponding to the first object detected in the front image obtained by the first camera. The processor <NUM> may determine whether to use the wide-angle image, based on the location of the first AR graphic object in the front image.

The processor <NUM> may perform calibration by adjusting the location of a vanishing line detectable in the front image. The processor <NUM> may position a left-right direction vanishing line detectable in the front image at the center of the navigation screen in the vertical direction.

The processor <NUM> may perform calibration by compensating a holding tilt value of the mobile terminal <NUM>. The processor <NUM> may determine the holding tilt value, based on the first sensing data received from the gyroscope sensor <NUM> and the second sensing data received from the acceleration sensor <NUM>. The processor <NUM> may compensate the tilt value on the navigation screen. The processor <NUM> may compensate the first sensing data and the second sensing data using a Kalman filter. According to an embodiment, the processor <NUM> may determine a holding tilt value, further based on data received from the geomagnetic sensor and the temperature sensor. According to an embodiment, the processor <NUM> may determine and compensate a holding tilt value, based on third sensing data received from a gravity sensor.

The processor <NUM> may drive an augmented reality navigation application so that the augmented reality navigation screen is displayed on the display <NUM>. The augmented reality navigation screen may include at least one augmented reality AR graphic object and a calibrated front image.

The processor <NUM> may receive at least one of a home button input signal and other application execution input signal, through a user input unit. In this case, the processor <NUM> may deactivate the camera <NUM> so that acquisition of the front image is stopped. The processor <NUM> may drive an augmented reality navigation application in the background. Through such control, it is possible to prevent the waste of battery and processing power generated while unnecessarily obtaining and processing a front image.

The processor <NUM> may obtain vehicle stop state information by processing the front image or receiving a signal from the vehicle. The processor <NUM> may deactivate the camera <NUM> when obtaining the vehicle stop state information. In this case, the processor <NUM> may drive the augmented reality navigation application to display the navigation screen excluding the front image and the AR graphic object. The processor <NUM> may obtain information on vehicle moving state after the vehicle is stopped, by processing a front image or receiving a signal from the vehicle. The processor <NUM> may activate the camera <NUM>, when obtaining the information on vehicle moving state after the vehicle is stopped. The processor <NUM> may calibrate the front image obtained from the activated camera, based on the calibration data before the camera <NUM> is deactivated.

The processor <NUM> may receive at least one of a signal, information, and data from a server, through the wireless communication unit <NUM>. The processor <NUM> may receive augmented reality navigation application data from a server.

The processor <NUM> may receive directions information from a server, and drive a navigation application based on the directions information. The directions information may include map data and an AR graphic object.

The processor <NUM> may receive map data from a server. The map data may include at least one of standard definition (SD) map data and high definition (HD) map data. The processor <NUM> may download the entire map data at a specific time and store it in the memory <NUM> for use. The processor <NUM> may download only some of the entire map data at a preset cycle, store it in the memory <NUM> and use it temporarily. Map data that completed usage may be deleted. The processor <NUM> may receive AR graphic object (e.g. AR indicator) data from a server.

The processor <NUM> may download only some data of the entire map data based on a set route, store it in the memory <NUM> and use it temporarily. The processor <NUM> may receive map data corresponding to a route generated by a destination input by a user, and store the received map data in the memory <NUM>. The processor <NUM> may receive an AR graphic object corresponding to a route along with map data, and store the received AR graphic object in the memory <NUM>. The processor <NUM> may delete the map data and the AR graphic object stored in the memory <NUM> after using them.

When the directions information is updated while driving the navigation based on the directions information received from the server, the processor <NUM> may receive the updated directions information and drive the navigation application. The processor <NUM> may change a preset route according to the updated directions information.

The processor <NUM> may receive directions information corresponding to an expected driving route in real time. The processor <NUM> may adjust the amount of reception of directions information corresponding to a section including the expected driving route according to the communication strength. For example, when the communication strength is greater than or equal to a first reference value, the processor <NUM> may receive directions information corresponding to a relatively long section.

According to an embodiment, a plurality of surfaces (a navigation map surface, an AR camera surface, an AR GUI surface, and a navigation GUI surface) described later may be generated in a server. The processor <NUM> may receive a plurality of surfaces from a server to configure a navigation screen. The processor <NUM> may adjust the number of received surfaces according to the communication strength. For example, when the communication strength is weak, the processor <NUM> may receive only the navigation GUI surface and then additionally receive the AR GUI surface when the communication strength is gradually increased.

The processor <NUM> may receive AR graphic information processed by the server and output an AR indicator based on the received AR graphic information. When there is a point of interest (POI) preset by the augmented reality navigation application, the processor <NUM> may additionally display an AR indicator, during AR directions. The processor <NUM> may receive POI information from the server in real time. When receiving the POI information, the processor <NUM> may also receive an AR indicator corresponding to the POI.

The power supply unit <NUM> receives external power and internal power under the control of the processor <NUM> and supplies power necessary for the operation of each of components. The power supply unit <NUM> includes a battery, and the battery may be a built-in battery configured to be rechargeable, and may be detachably coupled to a terminal body for charging. The power supply unit <NUM> may include a connection port, and the connection port may be configured as an example of an interface <NUM> to which an external charger supplying power for charging a battery is electrically connected.

As another example, the power supply unit <NUM> may be configured to charge the battery in a wireless manner without using the connection port. In this case, the power supply unit <NUM> may receive power from an external wireless power transmitter by using at least one of an inductive coupling method based on a magnetic induction phenomenon or a magnetic resonance coupling method based on an electromagnetic resonance phenomenon.

Meanwhile, the mobile terminal <NUM> may include a computer-readable medium that executes a plurality of steps, when driven by the processor <NUM>. The plurality of steps may include a step of receiving a front image, a step of calibrating the front image, and a step of driving an augmented reality navigation application so that an augmented reality navigation screen including at least one AR graphic object and the calibrated front image is displayed on the display. The plurality of steps will be described in more detail with reference to <FIG>.

<FIG> is a detailed block diagram of a processor according to an embodiment of the present disclosure.

<FIG> is a diagram referenced for explaining a navigation screen according to an embodiment of the present disclosure.

<FIG> is a diagram referenced for explaining an operation of generating a navigation screen according to an embodiment of the present disclosure.

Referring to the drawing, the processor <NUM> may include a navigation engine <NUM>, an augmented reality AR engine <NUM>, and a navigation application <NUM>.

The navigation engine <NUM> may receive map data and GPS data. The navigation engine <NUM> may perform map matching based on the map data and the GPS data. The navigation engine <NUM> may perform route planning. The navigation engine <NUM> may display a map and perform route guidance. The navigation engine <NUM> may provide route guidance information to the navigation application <NUM>. Meanwhile, the navigation engine <NUM> may include a navigation controller <NUM>. The navigation controller <NUM> may receive map matching data, map display data, and route guidance data. The navigation controller <NUM> may provide route data, point of interest (POI) data, and the like to the AR engine <NUM>. The navigation controller <NUM> may provide route guidance data and a map display frame to the navigation application <NUM>.

The AR engine <NUM> may include an adapter <NUM> and a renderer <NUM>. The adapter <NUM> may receive front image data from the camera <NUM>, first sensing data from a gyroscope sensor <NUM>, and second sensing data from an acceleration sensor <NUM>. According to an embodiment, the adapter may receive sensing data from at least one of a geomagnetic sensor, a temperature sensor, and a gravity sensor.

Based on data provided from a calibration factor DB, calibration for the front image may be performed. The AR engine <NUM> may perform object detection, based on the front image data and route data. The AR engine <NUM> may perform prediction and interpolation.

The renderer <NUM> may perform rendering based on root data, POI data, and prediction and interpolation result data. The renderer <NUM> may provide an AR graphical user interface (GUI) frame and an AR camera frame to the navigation application <NUM>.

The navigation application <NUM> may generate an augmented reality navigation screen. As illustrated in <FIG>, the augmented reality navigation screen may include a navigation map surface <NUM>, an AR camera surface <NUM>, an AR GUI surface <NUM>, and a navigation GUI surface <NUM>. The navigation application <NUM> may generate the navigation map surface <NUM>, based on the map display frame provided from the navigation controller <NUM>. The navigation application <NUM> may generate the AR camera surface <NUM>, based on the AR camera frame provided from the renderer <NUM>. The navigation application <NUM> may generate the AR GUI surface <NUM>, based on the AR GUI frame provided from the renderer <NUM>. The navigation application <NUM> may generate the navigation GUI surface <NUM>, based on the route guidance data provided from the navigation controller <NUM>.

Referring to <FIG>, when the navigation application <NUM> is started (S410), the navigation application <NUM> may generate the navigation map surface <NUM>, the AR camera surface <NUM>, the AR GUI surface <NUM>, and the navigation GUI surface <NUM> (S420). The navigation application <NUM> may provide the parameter of the AR camera surface <NUM> and the parameter of the AR GUI surface <NUM> to the AR engine <NUM> (S430). The AR engine <NUM> may register a callback function in the camera server <NUM> so as to receive front image data (S440). The camera server <NUM> may be considered to be included in the memory <NUM>. The AR engine <NUM> may receive and crop the front image data (S450). The navigation application <NUM> may display the cropped front image on the AR camera surface <NUM> (S460). The AR engine <NUM> may perform AR (S470). The navigation application <NUM> may display the AR GUI on the AR GUI surface <NUM>, based on the cropped front image (S480).

<FIG> is a flow chart according to an embodiment of the present disclosure.

A method of operating a mobile terminal (S500) will be described with reference to <FIG> and <FIG>. The mobile terminal <NUM> may provide an augmented reality navigation screen while being hold in a vehicle.

The processor <NUM> may receive a vehicle front image (S510). The camera <NUM> may photograph the vehicle front image. The processor <NUM> may receive the vehicle front image photographed by the camera <NUM>. Step S510 may include step S511, step S512, and step S513.

The processor <NUM> may generate the AR GUI surface <NUM> and the AR camera surface <NUM> (S511). The processor <NUM> may obtain a camera <NUM> control and receive the vehicle front image (S512). The processor <NUM> may display the vehicle front image from the camera <NUM> on the AR GUI surface <NUM> and the AR camera surface <NUM> (S513).

The processor <NUM> may calibrate the vehicle front image (S520). Step S520 may include step S521, step S522, step S523, step S524, step S525, and step S526.

When calibration starts (S521), the processor <NUM> may detect and extract a vanishing line, a bonnet line, and a center line from the vehicle front image (S522 and S523). Data on the vanishing line, bonnet line, and center line extracted in step S523 may be stored in the calibration factor DB <NUM>. The calibration factor DB <NUM> may be included in the memory <NUM>. The processor <NUM> may calculate the height and tilt of the camera <NUM> (S524). For example, the processor <NUM> may calculate the height and tilt of the camera <NUM>, based on the sensing data (e.g. first sensing data and second sensing data) (S524). The processor <NUM> may perform calibration for the vehicle front image, based on the data obtained in steps S523 and S524 (S525). The processor <NUM> may terminate the calibration (S526).

The step of performing the calibration (S525) may include a step of cropping, by the processor <NUM>, a first area in which at least a portion of the vehicle is located from the front image. At least a portion of the vehicle may include at least one of a bonnet, a roof, an A-pillar, a dashboard, and a holder.

The step of performing the calibration (S525) may include a step of determining, by the processor <NUM>, a balance of top, bottom, left and right of the front image, based on at least one of a horizontal line passing through a vanishing point detectable in the front image and a vertical line passing through the vanishing point, and a step of determining, by the processor, whether to use the wide-angle image, based on the balance.

Meanwhile, the method of operating a mobile terminal (S500) may include a step of overlaying the first AR graphic object on a point of the front image corresponding to the first object detected from the vehicle front image. The step of overlaying may be a sub-element of step S544.

The step of performing the calibration (S525) may include a step of determining, by the processor <NUM>, whether to use the wide-angle image, based on the location of the first AR graphic object in the front image. The step of performing the calibration (S525) may include a step of positioning, by the processor <NUM>, a left-right vanishing line detectable from the front image in the center of the vertical direction of the navigation screen.

The method of operating a mobile terminal (S500) may further include a step of generating first sensing data by the gyroscope sensor <NUM> and a step of generating second sensing data by the acceleration sensor <NUM>. The step of performing the calibration (S525) may further include a step of determines a holding tilt by the processor, based on the first sensing data and the second sensing data, and a step of compensating the holding tilt with respect to the navigation screen by the processor.

The processor <NUM> may drive the augmented reality navigation application so that the augmented reality navigation screen <NUM> including at least one AR graphic object and the calibrated front image is displayed on the display <NUM> (S530). Step S530 may include steps S531 to S549.

The processor <NUM> may display the calibration result (S531). When it is determined that the calibration is successful (S532), the processor <NUM> may start the navigation mode after starting the AR mode (S533, S534). The processor <NUM> may search a route (S535). The processor <NUM> may receive and parse the route information (S536).

Meanwhile, the processor <NUM> may start sensor control (S540). The processor <NUM> may register various sensor data reception callbacks (S541). The processor <NUM> may receive and parse IMU sensor data. The IMU sensor includes the gyroscope sensor <NUM> and the acceleration sensor <NUM>, and the processor <NUM> may receive the first sensing data and the second sensing data as IMU sensor data. The processor <NUM> may predict and interpolate the traveling of the vehicle, based on the parsing result of step S546 and the parsing result of step S542 (S543). The processor <NUM> may display a maneuver on the AR GUI surface <NUM> (S544). The processor <NUM> may display an AR graphic object on the AR GUI surface <NUM>. The processor <NUM> may overlay the first AR graphic object on a point of the front image corresponding to the first object detected in the front image through step S546. Thereafter, the processor <NUM> may guide a route (S537). The processor <NUM> may guide the route, based on the route searched in step S535 and the maneuver in step S544. The processor <NUM> may determine AR guidance and determine whether it is an AR guidance timing (S538, S539). When it is determined that it is the AR guidance timing, the processor <NUM> may perform step S544. When it is determined that it is not the AR guidance timing, the processor <NUM> may perform step S537.

The processor <NUM> may receive and parse the camera <NUM> sensor data (S546). The processor <NUM> may detect an object (e.g. a lane, other vehicle, a two-wheeled vehicle, a pedestrian, etc.) based on the image obtained by the camera <NUM>. The processor <NUM> may recognize a lane, based on information on the detected object (S547). The processor <NUM> may cut the camera image (S548). The processor <NUM> may cut the front image, based on data stored in the calibration factor DB <NUM>. The processor <NUM> may display a 3D carpet on the AR camera surface <NUM>, based on the lane recognition data of S547 and the image data of S548 (S549).

The processor <NUM> may display the calibration result (S531). When it is determined that the calibration is failed (S532), the processor <NUM> may start the navigation mode without starting the AR mode (S534). The processor <NUM> may search a route (S535). The processor <NUM> may perform route guidance according to the searched route (S537).

<FIG> are diagrams referenced for explaining a vanishing line, a bonnet line, and a center line according to an embodiment of the present disclosure.

Referring to the drawings, the processor <NUM> may detect a vanishing line <NUM>, a bonnet line <NUM>, and a center line <NUM> from a vehicle front image photographed by the camera <NUM>. It may be defined as a horizontal line passing through the vanishing point <NUM> detected in the vehicle front image. The bonnet line <NUM> may be defined as a horizontal line passing through an uppermost end of the bonnet detected in the vehicle front image. The center line <NUM> may be defined as a vertical line passing through the vanishing point <NUM>.

According to an embodiment, the processor <NUM> may perform calibration based on the vanishing line <NUM>, the bonnet line <NUM>, and the center line <NUM> in response to a user input. As illustrated in <FIG>, when the vanishing line <NUM>, the bonnet line <NUM>, and the center line <NUM> are set according to a user input, the processor <NUM> may calibrate the front image to be adjusted to the location set in each of the vanishing line <NUM>, the bonnet line <NUM>, and the center line <NUM>.

<FIG> are diagrams referenced for explaining a cropping operation according to an embodiment of the present disclosure.

As illustrated in <FIG>, the processor <NUM> may detect a vanishing line <NUM>, a bonnet line <NUM>, and a center line <NUM> from a vehicle front image photographed by the camera <NUM>. As illustrated in <FIG>, the processor <NUM> may delete the area under the bonnet line <NUM> from the vehicle front image. The processor <NUM> may output navigation related information <NUM>, on the area under the deleted bonnet line <NUM>. For example, the processor <NUM> may display at least one of time information, location information, information of the road being driven, departure point information, departure time information, destination information, information of distance remaining to destination, information of time remaining to the destination, and estimated arrival time information, on the area under the bonnet line <NUM>. The processor <NUM> may display a navigation map <NUM> and a navigation GUI <NUM>, on one area of the display <NUM>.

As illustrated in <FIG>, the processor <NUM> may delete an unnecessary area from the vehicle front image. The processor <NUM> may delete an object area that does not affect the driving of the vehicle. For example, the processor <NUM> may delete an area corresponding to a fixed object located in the sidewalk, from the vehicle front image. Thus, by deleting the object area that does not affect the driving of the vehicle, it is possible to prevent distraction during driving. As illustrated in <FIG>, the processor <NUM> may display the AR navigation screen <NUM>.

As illustrated in <FIG>, the processor <NUM> may detect a holder line <NUM>. The holder line <NUM> may be defined as a line formed in a vertical direction or a horizontal direction from a portion of the holder of the mobile terminal that protrudes most toward the center of the screen. As illustrated in <FIG>, the processor <NUM> may delete an area in which the holder is displayed around the holder line <NUM> in order to delete a holder <NUM>.

<FIG> are diagrams referenced for explaining an operation of using a wide-angle image according to an embodiment of the present disclosure.

Referring to the drawings, the camera <NUM> may include a first camera and a second camera. The first camera may obtain a front image of the vehicle. The second camera may obtain a wide-angle image in comparison with the first camera. In a deactivated state, the second camera may be activated when the processor <NUM> determines to use the wide-angle image.

The processor <NUM> may determine the balance of the top, bottom, left and right, based on the vanishing line <NUM> and the center line <NUM> in the front image. The processor <NUM> may determine whether to use the wide-angle image, based on the balance of the top, bottom, left and right. For example, when it is determined that the center line <NUM> is leaned toward the left of the front image, the processor <NUM> may activate the second camera. The processor <NUM> may supplement the front image of the first camera by taking an image outside the left side of the obtained image of the first camera from the image obtained by the activated second camera.

Meanwhile, when the vehicle <NUM> gradually approaches the intersection, the processor <NUM> may gradually enlarge and display the front image while gradually changing the angle of view of the first camera.

Meanwhile, the processor <NUM> may determine whether to use the wide-angle image, based on shape data of a road. For example, the processor <NUM> may determine whether to use a wide-angle image, based on curve data of a road formed to the left or right side.

Reference numeral <NUM> of <FIG> illustrates a front image obtained by the first camera. Reference numeral <NUM> illustrates a front image obtained by the second camera. The processor <NUM> may overlay the first AR graphic object on a point of the front image corresponding to the first object detected in the front image. The processor <NUM> may determine whether to use the wide-angle image, based on the location of the first AR graphic object in the front image. As illustrated in <FIG>, when the route is formed to the right so that the AR graphic object <NUM> is located in the right side of the front image, the processor <NUM> may supplement the front image of the first camera by obtaining a right area that deviates from the front image of the first camera among the wide-angle images of the second camera. In this case, as illustrated in <FIG>, when using a wide-angle image, the processor <NUM> may combine and display a portion of the front image of the first camera and the wide-angle image of the second camera, by reducing a scale in comparison with a scale before using the wide-angle image. Alternatively, the processor <NUM> may process and display only the wide-angle image of the second camera. In this case, the processor <NUM> may maintain the size of the front area display area. As illustrated in <FIG>, when using a wide-angle image, the processor <NUM> may combine and display a portion of the front image of the first camera and the wide-angle image of the second camera, by making a scale to be equal to a scale before using the wide-angle image. Alternatively, the processor <NUM> may process and display only the wide-angle image of the second camera. In this case, the processor <NUM> may increase the size of the display area of the front area. The processor <NUM> may reduce the navigation map display area.

Reference numeral <NUM> of <FIG> illustrates a front image obtained by the first camera. Reference numeral <NUM> illustrates a front image obtained by the second camera. The processor <NUM> may overlay the first AR graphic object on a point of the front image corresponding to the first object detected in the front image. The processor <NUM> may determine whether to use the wide-angle image, based on the location of the first AR graphic object in the front image. As illustrated in <FIG>, when the route is formed to the left so that the AR graphic object <NUM> is located in the left side of the front image, the processor <NUM> may supplement the front image of the first camera by obtaining a left area that deviates from the front image of the first camera among the wide-angle images of the second camera. In this case, as illustrated in <FIG>, when using a wide-angle image, the processor <NUM> may combine and display a portion of the front image of the first camera and the wide-angle image of the second camera, by reducing a scale in comparison with a scale before using the wide-angle image. Alternatively, the processor <NUM> may process and display only the wide-angle image of the second camera. In this case, the processor <NUM> may maintain the size of the front area display area. As illustrated in <FIG>, when using a wide-angle image, the processor <NUM> may combine and display a portion of the front image of the first camera and the wide-angle image of the second camera, by making a scale to be equal to a scale before using the wide-angle image. Alternatively, the processor <NUM> may process and display only the wide-angle image of the second camera. In this case, the processor <NUM> may increase the size of the display area of the front area. The processor <NUM> may reduce the navigation map display area.

<FIG> are diagrams referenced for explaining an operation of adjusting a vanishing line according to an embodiment of the present disclosure.

Referring to the drawings, the processor <NUM> may detect a vanishing line <NUM> from a front image. As illustrated in <FIG>, the processor <NUM> may determine whether the vanishing line <NUM> is positioned below the center <NUM> in the vertical direction of the navigation screen. In this case, the processor <NUM> may adjust an area displayed on the navigation screen of the front image so that the vanishing line <NUM> is positioned in the center <NUM>. As illustrated in <FIG>, the processor <NUM> may position the vanishing line <NUM> in the center <NUM> of the navigation screen in the vertical direction.

The processor <NUM> may determine whether the vanishing line is positioned above the center of the navigation screen in the vertical direction. In this case, the processor <NUM> may position the vanishing line in the center of the navigation screen in the vertical direction.

<FIG> are diagrams referenced for explaining an operation of compensating a tilt value when a vehicle according to an embodiment of the present disclosure travels on a slope.

As illustrated in <FIG>, when the vehicle travels on a flat ground, the processor <NUM> may configure a lookup table <NUM> by calculating a tilt value of the mobile terminal and calculating a vanishing line. The lookup table <NUM> may be stored in the memory <NUM>. For example, when the tilt of the mobile terminal <NUM> is <NUM> degrees, <NUM> degrees, <NUM> degrees, and <NUM> degrees, each vanishing line may be calculated to configure the lookup table <NUM>.

As illustrated in <FIG> and 13D, when the vehicle travels on a slope, the processor <NUM> may compensate the installation tilt value of the mobile terminal <NUM>, based on the lookup table <NUM>. For example, the processor <NUM> may determine that the installation tilt value of the mobile terminal <NUM> is <NUM> degrees, based on at least one of the first sensing data and the second sensing data. The processor <NUM> may check that the value of the vanishing line is <NUM>. The processor <NUM> may determine that the tilt value of the mobile terminal corresponding to the vanishing line value is <NUM> degrees based on the lookup table <NUM>. The processor <NUM> may compensate the installation tilt of the mobile terminal <NUM> as <NUM> degrees when the vehicle travels on a slope.

<FIG> are diagrams referenced for explaining an operation of a mobile terminal in a specific situation according to an embodiment of the present disclosure.

<FIG> illustrates a case where an AR navigation application is driven in a foreground. Foreground driving of the AR navigation application can be identically explained with a description described with reference to <FIG>.

<FIG> illustrates a case in which an AR navigation application is driven in the foreground in a state where the camera is deactivated. The operating method of the mobile terminal <NUM> may further include a step of obtaining vehicle stop state information by the processor <NUM>, a step of deactivating the camera <NUM> by the processor <NUM>, and a step of driving the augmented reality navigation application to display a navigation screen excluding the front image and the AR graphic object by the processor <NUM>.

When obtaining the vehicle stop state information, the processor <NUM> may deactivate the camera, and drive the augmented reality navigation application to display a navigation screen excluding the front image and the AR graphic object. In the AR navigation screen, the processor <NUM> may configure the AR navigation screen by including only the navigation GUI surface and the navigation map surface while excluding the AR GUI surface and the AR camera surface.

Meanwhile, the operating method of the mobile terminal <NUM> may further include a step of obtaining vehicle moving state information after the vehicle stop state by the processor <NUM>, a step of activating the camera by the processor <NUM>, and a step of calibrating the front image obtained from the activated camera <NUM>, based on the calibration data prior to deactivation of the camera <NUM>, by the processor <NUM>.

When obtaining the vehicle moving state information after the vehicle stop state, the processor <NUM> activates the camera <NUM>, and may calibrate the front image obtained from the activated camera <NUM>, based on the calibration data prior to deactivation of the camera <NUM>. The processor <NUM> may calibrate the front image obtained from the activated camera <NUM> by calling calibration data from the calibration factor DB <NUM>.

<FIG> illustrates a case where the AR navigation application is driven in a background. The operating method of the mobile terminal <NUM> may include a step of receiving at least one of a home button input signal and other application execution input signal by the processor <NUM>, a step of deactivating the camera <NUM> by the processor <NUM>, and a step of driving the augmented reality navigation application in the background by the processor <NUM>.

When receiving at least one of a home button input signal and other application execution input signal, the processor <NUM> may deactivate the camera <NUM>, and drive the augmented reality navigation application in the background.

<FIG> is a diagram referenced for explaining an operation of a mobile terminal in a walking mode according to an embodiment of the present disclosure.

Referring to <FIG>, the mobile terminal <NUM> may be used in a vehicle mode and a walking mode. When the mobile terminal <NUM> is used in the vehicle mode, the mobile terminal <NUM> operates as described with reference to <FIG>.

When the mobile terminal <NUM> is used in a walking mode, the processor <NUM> may provide an AR navigation screen for walking. The processor <NUM> may perform calibration so that an area of an object that does not interfere with walking is excluded from a pedestrian front image. The processor <NUM> may enlarge and display an area for guiding a pedestrian in the pedestrian front image, and delete the remaining area.

Claim 1:
A method of generating an augmented reality image, the method comprising:
receiving a front image obtained by at least one camera (<NUM>), by at least one processor (<NUM>);
calibrating the front image by the at least one processor (<NUM>); and
configuring an augmented reality navigation screen including at least one augmented reality ,AR, graphic object and the calibrated front image by the at least one processor (<NUM>);
wherein the augmented reality navigation screen includes an AR camera surface (<NUM>) and an AR GUI surface (<NUM>),
wherein calibrating the front image comprises:
determining an unnecessary area of the front image;
cropping the unnecessary area in the front image;
displaying the cropped image on the AR camera surface (<NUM>); and
rendering an AR GUI included in the AR GUI surface (<NUM>) based on the cropped image, wherein calibrating the front image comprises:
determining, by the at least one processor (<NUM>), a balance of the front image, based on a calibration factor data, and
calibrating the front image, by the at least one processor (<NUM>), based on the balance of the front image.