Method and apparatus for measuring position and orientation
First Claim
1. A position and orientation measuring method, comprising the steps of:
- inputting a measured inclination value of an inclination sensor mounted to at least one of an object and an image capturing device;
inputting a captured image from the image capturing device;
detecting an index on the object from the captured image; and
calculating a position and an orientation of one of the object and the image capturing device to which the inclination sensor is mounted on the basis of the measured inclination value, an image coordinate of the detected index, and known positional information on the detected index without performing an iterative calculation of correction values of position and orientation.
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Accused Products
Abstract
A position and an orientation of an image capturing device or an object to which an inclination sensor is mounted are obtained without performing iterative calculation. A position and orientation measuring method includes the steps of: inputting a measured inclination value of an inclination sensor mounted to one of an object and an image capturing device; inputting a captured image from the image capturing device; detecting an index on the object from the captured image; and calculating a position and an orientation of one of the object and the image capturing device to which the inclination sensor is mounted on the basis of the measured inclination value, an image coordinate of the detected index, and already-known positional information on the detected index without performing iterative calculation.
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Citations
18 Claims
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1. A position and orientation measuring method, comprising the steps of:
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inputting a measured inclination value of an inclination sensor mounted to at least one of an object and an image capturing device;
inputting a captured image from the image capturing device;
detecting an index on the object from the captured image; and
calculating a position and an orientation of one of the object and the image capturing device to which the inclination sensor is mounted on the basis of the measured inclination value, an image coordinate of the detected index, and known positional information on the detected index without performing an iterative calculation of correction values of position and orientation. - View Dependent Claims (2, 3, 4, 5, 6, 7, 17)
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8. A position and orientation measuring method, comprising the steps of:
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inputting a first measured inclination value of a first inclination sensor mounted to an object;
inputting a second measured inclination value of a second inclination sensor mounted to an image capturing device;
inputting a captured image from the image capturing device;
detecting an index on the object from the captured image; and
calculating relative position and relative orientation of the object and the image capturing device on the basis of the first measured inclination value, the second measured inclination value, an image coordinate of the detected index, and known positional information on the detected index without performing an iterative calculation of correction values of position and orientation. - View Dependent Claims (9, 10, 11, 12, 13, 14, 18)
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15. A position and orientation measuring apparatus, comprising:
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an image capturing device;
an inclination sensor mounted to at least one of an object and the image capturing device;
an inclination value input unit adapted to input a measured inclination value of the inclination sensor;
an image inputting unit adapted to input a captured image from the image capturing device;
an index detecting unit adapted to detect an index on the object from the captured image; and
a position and orientation calculator adapted to calculate a position and an orientation of one of the object and the image capturing device to which the inclination sensor is mounted on the basis of the measured inclination value, an image coordinate of the detected index, and known positional information on the detected index without performing iterative calculation of correction values of position and orientation.
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16. A position and orientation measuring apparatus, comprising:
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a first measured inclination value input unit adapted to input a first measured inclination value of a first inclination sensor mounted to an object;
a second measured inclination value input unit adapted to input a second measured inclination value of a second inclination sensor mounted to an image capturing device;
an image inputting unit adapted to input a captured image from the image capturing device;
an index detecting unit adapted to detect an index on the object from the captured image; and
a position and orientation calculator adapted to calculate relative position and relative orientation of the object and the image capturing device on the basis of the first measured inclination value, the second measured inclination value, an image coordinate of the detected index, and known positional information on the detected index without performing iterative calculation of correction values of position and orientation.
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Specification