Movement direction determination method and movement direction determination device

• US 10,339,661 B2
• Filed: 06/30/2016
• Issued: 07/02/2019
• Est. Priority Date: 07/28/2015
• Status: Active Grant

• Current Assignee: Panasonic Intellectual Property Management Co., Ltd. (Panasonic Holdings Corporation)
• Original Assignee: Panasonic Intellectual Property Management Co., Ltd. (Panasonic Holdings Corporation)
• Inventors: Takakura, Saki, Takenouchi, Mariko
• Primary Examiner(s): LaBalle, Clayton E.
• Assistant Examiner(s): Smith, Linda B
• Application Number:
  US15/526,563
• Publication Number:
  US 20170330334A1
• Time in Patent Office: 1,097 Days
• Field of Search: 396153
• CPC Class Codes: G03B 5/00 Adjustment of optical system relative to image or object surface other than for focusing
• CPC Class Codes: G06K 7/015 Aligning or centering of the sensing device with respect to the record carrier
• CPC Class Codes: G06K 7/10 by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
• CPC Class Codes: G06K 7/10722 Photodetector array or CCD scanning
• CPC Class Codes: G06K 7/14 using light without selection of wavelength, e.g. sensing reflected white light G06K7/10831 - G06K7/1097 take precedence
• CPC Class Codes: G06T 2207/30244 Camera pose
• CPC Class Codes: G06T 7/246 using feature-based methods, e.g. the tracking of corners or segments
• CPC Class Codes: G06T 7/73 using feature-based methods
• CPC Class Codes: H04N 23/61 based on recognised objects
• CPC Class Codes: H04N 23/64 Computer-aided capture of images, e.g. transfer from script file into camera, check of taken image quality, advice or proposal for image composition or decision on when to take image
• CPC Class Codes: H04N 23/6811 based on the image signal
• CPC Class Codes: H04N 23/682 Vibration or motion blur correction
• CPC Class Codes: H04N 23/685 performed by mechanical compensation

Abstract

In order to provide movement-direction determination method and apparatus for appropriately informing a holder of a camera of a movement direction of the camera, a processor determines the movement direction of the camera that captures a polygonal recognition target in the movement-direction determination method and the movement-direction determination apparatus of the present disclosure. The processor acquires an orientation of the camera acquired by a sensor included in the camera, acquires an image of the recognition target captured by the camera, determines the number of corners of the recognition target included in the image, and determines the movement direction of the camera based on the orientation of the camera and the number of corners.

Claims

1. A movement-direction determination method of causing a processor to determine a movement direction of a camera that images a polygonal recognition target, the method comprising:

causing the processor to acquire an orientation of the camera acquired by a sensor included in the camera;

causing the processor to acquire an image of the recognition target imaged by the camera;

causing the processor to determine a number of corners of the recognition target included in the image;

causing the processor to determine the movement direction of the camera based on the orientation of the camera and the number of corners; and

causing the processor to determine coordinates of a corner which is not included in the image, and to determine the movement direction of the camera based on the orientation of the camera and the coordinates of the corner which is not included in the image, in a case where the number of corners of the recognition target included in the image is one less than an actual number of corners of the recognition target.

2. A movement-direction determination method of causing a processor to determine a movement direction of a camera that images a polygonal recognition target, the method comprising:

causing the processor to acquire an orientation of the camera acquired by a sensor included in the camera;

causing the processor to acquire an image of the recognition target imaged by the camera;

causing the processor to determine a number of corners of the recognition target included in the image;

causing the processor to determine the movement direction of the camera based on the orientation of the camera and the number of corners;

causing the processor to determine whether or not a sightline direction of a user of the camera matches an imaging direction of the camera; and

causing the processor to determine that the movement direction is a direction acquired by laterally inverting an orientation of the movement direction in a case where the sightline direction of the user of the camera does not match the imaging direction of the camera, unlike the sightline direction of the user of the camera matches the imaging direction of the camera.

3. A movement-direction determination method of causing a processor to determine a movement direction of a camera that images a polygonal recognition target, the method comprising:

causing the processor to acquire an orientation of the camera acquired by a sensor included in the camera;

causing the processor to acquire an image of the recognition target imaged by the camera;

causing the processor to determine a number of corners of the recognition target included in the image;

causing the processor to determine the movement direction of the camera based on the orientation of the camera and the number of corners;

causing the processor to determine a change of the movement direction by comparing a previously determined movement direction with a currently determined movement direction; and

causing the processor to instruct an output device to warn about excessive movement of the camera if the change of the movement direction is a change indicating movement to an opposite direction.

4. A movement-direction determination method of causing a processor to determine a movement direction of a camera that images a polygonal recognition target, the method comprising:

causing the processor to acquire an orientation of the camera acquired by a sensor included in the camera;

causing the processor to acquire an image of the recognition target imaged by the camera;

causing the processor to determine a number of corners of the recognition target included in the image;

causing the processor to determine the movement direction of the camera based on the orientation of the camera and the number of corners;

causing the processor to calculate a movement amount in the movement direction;

causing the processor to determine changes of the movement direction and the movement amount by comparing previously determined movement direction and movement amount with currently determined movement direction and movement amount; and

causing the processor to instruct an output device to warn about a movement of the camera to an opposite orientation in a case where the movement direction is not changed and the movement amount is increased.

5. The movement-direction determination method of claim 4, further comprising:

causing the processor to determine whether or not a sightline direction of a user of the camera matches an imaging direction of the camera;

causing the processor to determine that the movement direction is a direction acquired by laterally inverting an orientation of the movement direction in a case where the sightline direction of the user of the camera does not match the imaging direction of the camera, unlike a case where the sightline direction of the user of the camera matches the imaging direction of the camera; and

causing the processor to invert a determination result of whether or not the sightline direction of the user of the camera matches the imaging direction of the camera in a case where the movement direction is maintained as being a leftward direction or a rightward direction without being changed and the movement amount is increased.

6. A movement-direction determination apparatus that includes a processor, and causes the processor to determine a movement direction of a camera which images a polygonal recognition target,

wherein the processor is configured to

acquire an orientation of the camera acquired by a sensor included in the camera;

acquire an image of the recognition target imaged by the camera;

determine the number of corners of the recognition target included in the image; and

determine the movement direction of the camera based on the orientation of the camera and the number of corners, and

wherein, in a case where the number of corners of the recognition target included in the image is one less than an actual number of corners of the recognition target, the processor is configured to determine coordinates of a corner which is not included in the image, and determines the movement direction of the camera based on the orientation of the camera and the coordinates of the corner which is not included in the image.

7. A movement-direction determination apparatus that includes a processor, and causes the processor to determine a movement direction of a camera which images a polygonal recognition target,

wherein the processor is configured to

acquire an orientation of the camera acquired by a sensor included in the camera;

acquire an image of the recognition target imaged by the camera;

determine a number of corners of the recognition target included in the image;

determine the movement direction of the camera based on the orientation of the camera and the number of corners;

determine whether or not a sightline direction of a user of the camera matches an imaging direction of the camera; and

determine that the movement direction is a direction acquired by laterally inverting an orientation of the movement direction in a case where the sightline direction of the user of the camera does not match the imaging direction of the camera, unlike a case where the sightline direction of the user of the camera matches the imaging direction of the camera.

8. A movement-direction determination apparatus that includes a processor, and causes the processor to determine a movement direction of a camera which images a polygonal recognition target,

wherein the processor is configured to

acquire an orientation of the camera acquired by a sensor included in the camera;

acquire an image of the recognition target imaged by the camera;

determine a number of corners of the recognition target included in the image;

determine the movement direction of the camera based on the orientation of the camera and the number of corners;

determine a change of the movement direction by comparing a previously determined movement direction with a currently determined movement direction; and

instruct an output device to warn about excessive movement of the camera if the change of the movement direction is a change indicating movement to an opposite direction.

9. A movement-direction determination apparatus that includes a processor, and causes the processor to determine a movement direction of a camera which images a polygonal recognition target,

wherein the processor is configured to

acquire an orientation of the camera acquired by a sensor included in the camera;

acquire an image of the recognition target imaged by the camera;

determine a number of corners of the recognition target included in the image;

determine the movement direction of the camera based on the orientation of the camera and the number of corners;

calculate a movement amount in the movement direction;

determine changes of the movement direction and the movement amount by comparing previously determined movement direction and movement amount with currently determined movement direction and movement amount; and

instruct an output device to warn about movement of the camera to an opposite orientation in a case where the movement direction is not changed and the movement amount is increased.

10. The movement-direction determination apparatus of claim 9,

wherein the processor is configured to

determine whether or not a sightline direction of a user of the camera matches an imaging direction of the camera;

determine that the movement direction is a direction acquired by laterally inverting an orientation of the movement direction in a case where the sightline direction of the user of the camera does not match the imaging direction of the camera, unlike a case where the sightline direction of the user of the camera matches the imaging direction of the camera; and

invert a determination result of whether or not the sightline direction of the user of the camera matches the imaging direction of the camera in a case where the movement direction is maintained as being a leftward direction or a rightward direction without being changed and the movement amount is increased.