INFORMATION PROCESSING METHOD AND INFORMATION PROCESSING APPARATUS

• US 20070092161A1
• Filed: 07/25/2006
• Published: 04/26/2007
• Est. Priority Date: 07/27/2005
• Status: Active Grant

• Current Assignee: Canon Kabushiki Kaisha (Canon Inc.)
• Original Assignee: Canon Kabushiki Kaisha (Canon Inc.)
• Inventors: Satoh, Kiyohide, Kotake, Daisuke, Uchiyama, Shinji, Aratani, Shinichi
• Granted Patent: US 7,848,903 B2
• Time in Patent Office: Days
• US Class Current: 382/286
• CPC Class Codes: G06T 7/73 using feature-based methods

Abstract

An information processing method for obtaining placement information of a first position and orientation sensor attached to an object with respect to the object includes an image input step of inputting an image of the object captured by an image capturing device, and a sensor measurement value input step of inputting a first measurement value of the first position and orientation sensor and a second measurement value of a second position and orientation sensor attached to the image capturing device. An index detecting step detects information about image coordinates of an index attached to the object from the image, and a placement information calculating step calculates the placement information by using the first and second measurement values of the first and second position and orientation sensors and the information about the image coordinates of the index.

Claims

1. An information processing method for obtaining placement information of a first position and orientation sensor attached to an object with respect to the object, the information processing method comprising:

an image input step of inputting an image of the object captured by an image capturing device;

a sensor measurement value input step of inputting a first measurement value of the first position and orientation sensor and a second measurement value of a second position and orientation sensor attached to the image capturing device;

an index detecting step of detecting information about image coordinates of an index attached to the object from the image; and

a placement information calculating step of calculating the placement information by using the first and second measurement values input in the sensor measurement value input step and the information about the image coordinates of the index detected in the index detecting step.

2. The information processing method according to claim 1, wherein the placement information calculating step includes:

an estimating step of estimating information about the image coordinates in the image of the index detected in the index detecting step on the basis of the first and second measurement values and an estimated value of the placement information; and

a correcting step of correcting the estimated value of the placement information so as to reduce an error between the information about the image coordinates of the index detected in the index detecting step and the information about the image coordinates of the index estimated in the estimating step.

3. The information processing method according to claim 1, wherein the placement information calculating step includes:

a relative position and orientation calculating step of calculating relative position and orientation between the first position and orientation sensor and the second position and orientation sensor at measurement on the basis of the first and second measurement values input in the sensor measurement value input step, and

wherein the placement information is calculated by using the relative position and orientation between the sensors calculated in the relative position and orientation calculating step and the information about the image coordinates of the index detected in the index detecting step.

4. The information processing method according to claim 1, wherein the placement information includes placement information of the second position and orientation sensor with respect to the image capturing device in addition to the placement information of the first position and orientation sensor with respect to the object.

5. An information processing apparatus to obtain placement information of a first six-degrees-of-freedom position and orientation sensor attached to an object with respect to the object, the information processing apparatus comprising:

an image input unit adapted to input an image of the object captured by an image capturing device;

a sensor measurement value input unit adapted to input a first measurement value of the first six-degrees-of-freedom position and orientation sensor and a second measurement value of a second six-degrees-of-freedom position and orientation sensor attached to the image capturing device;

an index detecting unit adapted to detect information about image coordinates of an index attached to the object from the image; and

a placement information calculating unit adapted to calculate the placement information by using at least the first and second measurement values input by the sensor measurement value input unit and the information about the image coordinates of the index detected by the index detecting unit.

6. An information processing method for obtaining placement information of a position and orientation sensor attached to an object with respect to the object, the information processing method comprising:

an image input step of inputting an image of the object captured by an image capturing device;

a sensor measurement value input step of inputting a measurement value of the position and orientation sensor;

an index detecting step of detecting information about image coordinates of an index attached to the object from the image;

a position and orientation input step of inputting position and orientation of the image capturing device in standard coordinates; and

a placement information calculating step of calculating the placement information by using the measurement value input in the sensor measurement value input step, the information about the image coordinates of the index detected in the index detecting step, and the position and orientation of the image capturing device in the standard coordinates input in the position and orientation input step.

7. The information processing method according to claim 6, wherein the placement information calculating step includes:

a position and orientation calculating step of calculating relative position and orientation between the object and the image capturing device on the basis of the information about the image coordinates of the index detected in the index detecting step and placement information of the index with respect to the object, and

wherein the placement information is calculated on the basis of the measurement value input in the sensor measurement value input step, the relative position and orientation between the object and the image capturing device calculated in the position and orientation calculating step, and the position and orientation of the image capturing device in the standard coordinates input in the position and orientation input step.

8. An information processing apparatus to obtain placement information of a first position and orientation sensor attached to an object with respect to the object, the information processing apparatus comprising:

an image input unit adapted to input an image of the object captured by an image capturing device;

a measurement value input unit adapted to input a first measurement value of the first position and orientation sensor and a second measurement value of a second position and orientation sensor attached to the image capturing device;

a detecting unit adapted to detect information about image coordinates of an index attached to the object from the image; and

a calculating unit adapted to calculate the placement information by using the first and second measurement values and the detected information about the image coordinates of the index.

9. A computer-readable medium encoded with a computer program for performing an information processing method for obtaining placement information of a first position and orientation sensor attached to an object with respect to the object, the information processing method comprising:

an image input step of inputting an image of the object captured by an image capturing device;

a sensor measurement value input step of inputting a first measurement value of the first position and orientation sensor and a second measurement value of a second position and orientation sensor attached to the image capturing device;

an index detecting step of detecting information about image coordinates of an index attached to the object from the image; and

a placement information calculating step of calculating the placement information by using the first and second measurement values input in the sensor measurement value input step and the information about the image coordinates of the index detected in the index detecting step.

10. An information processing apparatus to obtain placement information of a position and orientation sensor attached to an object with respect to the object, the information processing apparatus comprising:

an image input unit adapted to input an image of the object captured by an image capturing device;

a measurement value input unit adapted to input a measurement value of the position and orientation sensor;

a detecting unit adapted to detect information about image coordinates of an index attached to the object from the image;

a position and orientation input unit adapted to input position and orientation of the image capturing device in standard coordinates; and

a calculating unit adapted to calculate the placement information by using the measurement value input by the measurement value input unit, the detected information about the image coordinates of the index, and the position and orientation of the image capturing device in the standard coordinates.

11. A computer-readable medium encoded with a computer program for performing an information processing method for obtaining placement information of a position and orientation sensor attached to an object with respect to the object, the information processing method comprising:

an image input step of inputting an image of the object captured by an image capturing device;

a sensor measurement value input step of inputting a measurement value of the position and orientation sensor;

an index detecting step of detecting information about image coordinates of an index attached to the object from the image;

a position and orientation input step of inputting position and orientation of the image capturing device in standard coordinates; and

a placement information calculating step of calculating the placement information by using the measurement value input in the sensor measurement value input step, the information about the image coordinates of the index detected in the index detecting step, and the position and orientation of the image capturing device in the standard coordinates input in the position and orientation input step.