Position/orientation measurement method, and position/orientation measurement apparatus
First Claim
1. A position/orientation measurement method for calculating a position and orientation of an object, comprising:
- a subjective viewpoint image acquisition step of acquiring a first image obtained by capturing a scene by a subjective viewpoint image sensing unit attached to the object;
an objective viewpoint image acquisition step of acquiring a second image obtained by capturing an image of the object by an objective viewpoint image sensing unit;
a first detection step of detecting a feature value associated with an image coordinate of a first indicator arranged in the scene from the first image;
a second detection step of detecting a feature value associated with an image coordinate of a second indicator arranged on the object or the objective viewpoint image sensing unit from the second image; and
a position/orientation calculation step of calculating the position and orientation of the object using the feature value associated with the image coordinate of the first indicator detected in the first detection step and the feature value associated with the image coordinate of the second indicator detected in the second detection step.
1 Assignment
0 Petitions
Accused Products
Abstract
A first error coordinate between the image coordinate of a first indicator, which is arranged on the real space and detected on a first image captured by a first image sensing unit, and the estimated image coordinate of the first indicator, which is estimated to be located on the first image in accordance with the position/orientation relationship between the first image sensing unit (with the position and orientation according to a previously calculated position/orientation parameter) and the first indicator, is calculated. On the other-hand, a second error coordinate between the image coordinate of a second indicator, which is arranged on the first image sensing unit and detected on a second image that includes the first image sensing unit, and the estimated image coordinate of the second indicator, which is estimated to be located on the second image in accordance with the position/orientation relationship between the first image sensing unit (with the position and orientation according to the position/orientation parameter), and the second indicator, is calculated. Using the first and second error coordinates, the position/orientation parameter is corrected.
-
Citations
17 Claims
-
1. A position/orientation measurement method for calculating a position and orientation of an object, comprising:
-
a subjective viewpoint image acquisition step of acquiring a first image obtained by capturing a scene by a subjective viewpoint image sensing unit attached to the object; an objective viewpoint image acquisition step of acquiring a second image obtained by capturing an image of the object by an objective viewpoint image sensing unit; a first detection step of detecting a feature value associated with an image coordinate of a first indicator arranged in the scene from the first image; a second detection step of detecting a feature value associated with an image coordinate of a second indicator arranged on the object or the objective viewpoint image sensing unit from the second image; and a position/orientation calculation step of calculating the position and orientation of the object using the feature value associated with the image coordinate of the first indicator detected in the first detection step and the feature value associated with the image coordinate of the second indicator detected in the second detection step. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
-
-
14. A position/orientation measurement method of calculating a first position/orientation parameter of an object which is attached to a first image sensing unit used to capture an image of a real space, and has a known position/orientation relationship with the first image sensing unit, comprising:
-
a first image coordinate detection step of detecting an image coordinate of a first indicator arranged on the real space from a first image captured by the first image sensing unit; a first estimated image coordinate detection step of calculating an estimated image coordinate of the first indicator in accordance with the position/orientation relationship between the first image sensing unit and the first indicator under an assumption that the position and orientation of the first image sensing unit follow a previously calculated second position/orientation parameter; a first error coordinate calculation step of calculating a first error coordinate between the image coordinate detected in the first image coordinate detection step and the estimated image coordinate calculated in the first estimated image coordinate detection step on the first image; a second image coordinate detection step of detecting an image coordinate of a second indicator arranged on the first image sensing unit or the object from a second image which is captured by a second image sensing unit and includes the object; a second estimated image coordinate detection step of calculating an estimated image coordinate of the second indicator in accordance with the position/orientation relationship between the first image sensing unit and the second indicator under an assumption that the position and orientation of the first image sensing unit follow the previously calculated second position/orientation parameter; a second error coordinate calculation step of calculating a second error coordinate between the image coordinate detected in the second image coordinate detection step and the estimated image coordinate calculated in the second estimated image coordinate detection step on the second image; a correction value calculation step of calculating a correction value used to correct the previously calculated second position/orientation parameter using the first and second error coordinates; a correction step of correcting the previously calculated second position/orientation parameter using the correction value; and a parameter calculation step of calculating the first position/orientation parameter of the object, which has the known position/orientation relationship with the first image sensing unit, using the second position/orientation parameter corrected in the correction step. - View Dependent Claims (15)
-
-
16. A position/orientation measurement method of calculating a position and orientation of an image sensing device as an object to be measured, which captures an image of a scene, comprising:
-
a detection step of detecting a feature value associated with an image coordinate of a first indicator arranged in the scene from the image captured by the image sensing device; a measurement step of measuring a three dimensional position of a second indicator arranged on the image sensing device; and a position/orientation calculation step of calculating the position and orientation of the image sensing device using the feature value associated with the image coordinate of the first indicator detected in the detection step, and the three dimensional position of the second indicator measured in the measurement step.
-
-
17. A position/orientation measurement apparatus for calculating a position and orientation of an object, comprising:
-
subjective image sensing unit, attached to the object, adapted to capture an image of a scene; objective viewpoint image sensing unit adapted to capture an image of the object; first detection unit adapted to detect a feature value associated with an image coordinate of a first indicator arranged in the scene from a first image captured by said subjective viewpoint image sensing unit; second detection unit adapted to detect a feature value associated with an image coordinate of a second indicator arranged on the object or said subjective viewpoint image sensing unit from a second image captured by said objective viewpoint image sensing unit; and position/orientation calculation unit adapted to calculate the position and orientation of the object using the feature value associated with the image coordinate of the first indicator detected by said first detection unit, and the feature value associated with the image coordinate of the second indicator detected by said second detection unit.
-
Specification