Data conversion method and apparatus, and orientation measurement apparatus

• US 7,414,596 B2
• Filed: 09/30/2004
• Issued: 08/19/2008
• Est. Priority Date: 09/30/2003
• Status: Active Grant

• Current Assignee: Canon Kabushiki Kaisha (Canon Inc.)
• Original Assignee: Canon Kabushiki Kaisha (Canon Inc.)
• Inventors: Satoh, Kiyohide, Anabuki, Mahoro
• Primary Examiner(s): Tran; Henry N
• Application Number:
  US10/952,876
• Publication Number:
  US 20050068293A1
• Time in Patent Office: 1,419 Days
• Field of Search: 345156-171, 345 7- 9, 348/40, 348/42, 348/46, 348/116, 348/135
• US Class Current: 345/8
• CPC Class Codes: G01C 21/20 Instruments for performing navigational calculations G01C21/24, G01C21/26 take precedence
• CPC Class Codes: G01C 9/00 Measuring inclination, e.g. by clinometers, by levels
• CPC Class Codes: G06F 3/012 Head tracking input arrangements

Abstract

An orientation sensor measures the orientation of the orientation sensor itself on a sensor coordinate system, and outputs an orientation measurement value. A first alignment data setting unit reads out first alignment data, which is recorded in an external storage device and represents the gravitational direction on a reference coordinate system, and sets that data in an orientation calculation unit. A second alignment data setting unit sets second alignment data, which represents a difference angle in the azimuth direction between the sensor coordinate system and reference coordinate system in the orientation calculation unit in accordance with a command input by an operator from a command input unit. The orientation calculation unit calculates the orientation of an object on the reference coordinate system using the first and second alignment data on the basis of the orientation measurement value input from the orientation sensor, and outputs it.

Claims

1. A data conversion method for converting orientation data on a sensor coordinate system defined by an orientation sensor into orientation data on a reference coordinate system, which is different from the sensor coordinate system, with each axis of the reference coordinate system being defined independently of a gravitational direction, comprising:

a first setting step of setting first alignment data which represents the gravitational direction on the reference coordinate system;

a second setting step of setting second alignment data indicating a difference angle in an azimuth direction between the sensor coordinate system and reference coordinate system;

a first calculation step of calculating a first coordinate conversion matrix for converting the gravitational direction on the sensor coordinate system into the gravitational direction on the reference coordinate system, wherein a rotation angle for the first coordinate conversion matrix is defined as an angle made by a first vector indicating the first alignment data and a second vector indicating the gravitational direction on the sensor coordinate system, and a rotation axis for the first coordinate conversion matrix is defined as a normal vector to a plane formed by the first and second vectors;

a second calculation step of calculating a second coordinate conversion matrix for which a rotation angle is defined as the second alignment data and a rotation axis is defined as the first alignment data;

a third calculation step of calculating a third coordinate conversion matrix for converting an orientation on the sensor coordinate system into an orientation on the reference coordinate system as a product of the first and second coordinate conversion matrices;

an input step of inputting orientation data on the sensor coordinate system; and

a conversion step of convertng the orientation data on the sensor coordinate system input in the input step into orientation data on the reference coordinate system using the third coordinate conversion matrix.

2. The method according to claim 1, further comprising a step of setting third alignment data which represents the gravitational direction on the sensor coordinate system.

3. The method according to claim 1, wherein one of coordinate axes of the sensor coordinate system agrees with the gravitational direction.

4. The method according to claim 1, wherein the orientation data input in the input step represents an orientation of the orientation sensor,

the conversion step further includes a step of converting the orientation data which represents the orientation of the orientation sensor into orientation data which represents an orientation of an image sensing unit to which the orientation sensor is attached, and

said method further comprises:

an image generation step of generating a superimposed image formed by superimposing an image, generated using position data of the image sensing unit on the reference coordinate system, and the orientation data of the image sensing unit on the reference coordinate system, which is converted in the conversion step, on an actually captured image captured by the image sensing unit; and

a display step of displaying the superimposed image.

5. A program stored on a computer-readable storage medium, said program making a computer execute a data conversion method of claim 1.

6. A data conversion apparatus for converting orientation data on a sensor coordinate system defined by an orientation sensor into orientation data on a reference coordinate system, which is different from the sensor coordinate system, with each axis of the reference coordinate system being defined independently of a gravitational direction, comprising:

a first setting unit adapted to set first alignment data which represents the gravitational direction on the reference coordinate system;

a second setting unit adapted to set second alignment data indicating a difference angle in an azimuth direction between the sensor coordinate system and reference coordinate system;

a first calculation unit adapted to calculate a first coordinate conversion matrix for converting the gravitational direction on the sensor coordinate system into the gravitational direction on the reference coordinate system, wherein a rotation angle for the first coordinate conversion matrix is defined as an angle made by a first vector indicating the first alignment data and a second vector indicating the gravitational direction on the sensor coordinate system, and a rotation axis for the first coordinate conversion matrix is defined as a normal vector to a plane formed by the first and second vectors;

a second calculation unit adapted to calculate a second coordinate conversion matrix for which a rotation angle is defined as the second alignment data and a rotation axis is defined as the first alignmment data;

a third calculation unit adapted to calculate a third coordinate conversion matrix for converting an orientation on the sensor coordinate system into an orientation on the reference coordinate system as a product of the first and second coordinate conversion matrices;

an input unit adapted to input orientation data on the sensor coordinate system; and

a conversion unit adapted to convert the orientation data on the sensor coordinate system input by said input unit into orientation data on the reference coordinate system using the third coordinate conversion matrix.

7. The apparatus according to claim 6, wherein the orientation data input by said input unit represents an orientation of the orientation sensor,

said conversion unit further comprises converting unit adapted to convert the orientation data which represents the orientation of the orientation sensor into orientation data which represents an orientation of an image sensing unit to which the orientation sensor is attached, and

said apparatus further comprises:

an image generation unit adapted to generate a superimposed image formed by superimposing an image, generated using position data of the image sensing unit on the reference coordinate system, and the orientation data of the image sensing unit on the reference coordinate system, which is converted by said conversion unit, on an actually captured image captured by the image sensing unit; and

a display unit adapted to display the superimposed image.