Device for measuring position and orientation of imaging apparatus and method therefor
First Claim
1. An information processing apparatus configured to store, in advance, pieces of reference data including a captured image, a position and an orientation of an imaging apparatus when the image is captured, three-dimensional information of a feature in a space corresponding to the image, and an attribute of the feature, wherein the captured image, the position and the orientation, the three-dimensional information, and the attribute are associated with each other, the information processing apparatus comprising:
- one or more processors; and
a memory storing executable instructions, which when executed by the one or more processors, cause the information processing apparatus to;
input an image captured by the imaging apparatus;
derive a position and an orientation of the imaging apparatus capturing the input image on the basis of the pieces of reference data stored and the input image;
determine whether the input image, as a new piece of reference data, is to be added on the basis of the derived position and orientation and the pieces of reference data;
decide a feature point that is to be registered into the new piece of reference data in a case where the determination determines that the new piece of reference data is to be added, wherein the feature point that is to be registered is a feature point according to which converted coordinates obtained by converting three-dimensional coordinates of a feature point in a coordinate system of at least one piece of reference data selected based on the derived position and the derived orientation into three-dimensional coordinates in a coordinate system of the input image are included in the input image and according to which the attribute of the feature of a feature point associated with the selected at least one piece of reference data and the attribute of the feature of the feature point in the input image are similar to each other; and
add the new piece of reference data and update the pieces of reference data.
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Accused Products
Abstract
An information processing device includes a holding unit which holds pieces of reference data including a captured image, a position and an orientation of an imaging apparatus when the image is captured, and three-dimensional information of a feature in a space corresponding to the image in association with each other, an input unit which inputs the captured image, a derivation unit which derives a position and an orientation of the imaging apparatus when the input image is captured, an addition determination unit which determines whether a new piece of reference data is to be added, a generating unit which, if the addition determination unit determines the new piece of reference data is to be added, generates a new piece of reference data, and an updating unit which adds the generated piece of reference data and updates the pieces of reference data.
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Citations
14 Claims
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1. An information processing apparatus configured to store, in advance, pieces of reference data including a captured image, a position and an orientation of an imaging apparatus when the image is captured, three-dimensional information of a feature in a space corresponding to the image, and an attribute of the feature, wherein the captured image, the position and the orientation, the three-dimensional information, and the attribute are associated with each other, the information processing apparatus comprising:
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one or more processors; and a memory storing executable instructions, which when executed by the one or more processors, cause the information processing apparatus to; input an image captured by the imaging apparatus; derive a position and an orientation of the imaging apparatus capturing the input image on the basis of the pieces of reference data stored and the input image; determine whether the input image, as a new piece of reference data, is to be added on the basis of the derived position and orientation and the pieces of reference data; decide a feature point that is to be registered into the new piece of reference data in a case where the determination determines that the new piece of reference data is to be added, wherein the feature point that is to be registered is a feature point according to which converted coordinates obtained by converting three-dimensional coordinates of a feature point in a coordinate system of at least one piece of reference data selected based on the derived position and the derived orientation into three-dimensional coordinates in a coordinate system of the input image are included in the input image and according to which the attribute of the feature of a feature point associated with the selected at least one piece of reference data and the attribute of the feature of the feature point in the input image are similar to each other; and add the new piece of reference data and update the pieces of reference data. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. An information processing method for an information processing apparatus configured to store, in advance, pieces of reference data including a captured image, a position and an orientation of an imaging apparatus when the image is captured, three-dimensional information of a feature in a space corresponding to the image, and an attribute of the feature, wherein the captured image, the position and the orientation, the three-dimensional information, and the attribute are associated with each other, the method comprising:
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inputting an image captured by the imaging apparatus; deriving a position and an orientation of the imaging apparatus capturing the input image on the basis of the pieces of reference data stored and the input image; determining whether the input image, as a new piece of reference data, is to be added on the basis of the derived position and orientation and the pieces of reference data; deciding a feature point that is to be registered into the new piece of reference data in a case where it is determined that the new piece of reference data is to be added, wherein the feature point that is to be registered is a feature point according to which converted coordinates obtained by converting three-dimensional coordinates of a feature point in a coordinate system of at least one piece of reference data selected based on the derived position and the derived orientation into three-dimensional coordinates in a coordinate system of the input image are included in the input image and according to which the attribute of the feature of a feature point associated with the selected at least one piece of reference data and the attribute of the feature of the feature point in the input image are similar to each other; and adding the new piece of reference data and updating the pieces of reference data.
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14. A non-transitory computer-readable storage medium storing a program including instructions, which when executed by a computer of an information processing apparatus configured to store, in advance, pieces of reference data including a captured image, a position and an orientation of an imaging apparatus when the image is captured, three-dimensional information of a feature in a space corresponding to the image, and an attribute of the feature, wherein the captured image, the position and the orientation, the three-dimensional information, and the attribute are associated with each other, cause the information processing apparatus to:
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input an image captured by the imaging apparatus; derive a position and an orientation of the imaging apparatus capturing the input image on the basis of the pieces of reference data stored and the input image; determine whether the input image, as a new piece of reference data, is to be added on the basis of the derived position and orientation and the pieces of reference data; decide a feature point that is to be registered into the new piece of reference data in a case where the determination determines that the new piece of reference data is to be added, wherein the feature point that is to be registered is a feature point according to which converted coordinates obtained by converting three-dimensional coordinates of a feature point in a coordinate system of at least one piece of reference data selected based on the derived position and the derived orientation into three-dimensional coordinates in a coordinate system of the input image are included in the input image and according to which the attribute of the feature of a feature point associated with the selected at least one piece of reference data and the attribute of the feature of the feature point in the input image are similar to each other; and add the new piece of reference data and update the pieces of reference data.
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Specification