Position and orientation detection method and apparatus

• US 7,613,356 B2
• Filed: 07/08/2004
• Issued: 11/03/2009
• Est. Priority Date: 07/08/2003
• Status: Active Grant

• Current Assignee: Canon Kabushiki Kaisha (Canon Inc.)
• Original Assignee: Canon Kabushiki Kaisha (Canon Inc.)
• Inventors: Satoh, Kiyohide, Uchiyama, Shinji
• Primary Examiner(s): Bella; Matthew C
• Assistant Examiner(s): Rosario; Dennis
• Application Number:
  US10/885,664
• Publication Number:
  US 20050008256A1
• Time in Patent Office: 1,944 Days
• Field of Search: 345/632, 345/633, 382/287, 382/309, 382/271, 382/293
• US Class Current: 382/271
• CPC Class Codes: G06T 2207/30244 Camera pose
• CPC Class Codes: G06T 7/73 using feature-based methods
• CPC Class Codes: G06T 7/80 Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration

Abstract

The present invention provides a method and apparatus for inputting a signal indicating a change in position of an image sensing apparatus to predict present position and orientation of the image sensing apparatus using previously obtained position and orientation, by identifying corresponding pairs of indicators detected from an image in real space sensed by the image sensing apparatus and indicators contained in an image when sensed from a predicted position and orientation and using a correction method determined by the number of identified indicator pairs either to correct all or some of the degrees of freedom of the predicted camera position and orientation or to use the predicted camera position and orientation directly as is. As a result, highly accurate detection results can be obtained using a simple structure in the detection of the position and orientation of the image sensing apparatus.

Claims

1. A position and orientation detection method of detecting a position and orientation of an image sensing apparatus that senses real space, the method comprising:

an orientation change detection step of detecting an extent of change in orientation of the image sensing apparatus;

a first image coordinates computation step of obtaining coordinates in an image of indicators included in a real space image sensed by the image sensing apparatus;

a position and orientation estimation step of estimating a present position and orientation of the image sensing apparatus based on position and orientation of the image sensing apparatus obtained previously and the extent of change in orientation of the image sensing apparatus obtained in the orientation change detection step;

a second image coordinates computation step of obtaining coordinates of indicators in a sensed image display screen of the image sensing apparatus at the position and orientation obtained in the position and orientation estimation step;

an identification step of identifying corresponding pairs of indicators from among the indicators obtained in the first and second image coordinates computation step;

a counting step of counting a number of the pairs of indicators identified in the identification step;

a selection step of selecting a first correction method if the number of the identified pairs of indicators is more than or equal to a predetermined number, and selecting a second correction method if the number of the identified pairs of indicators is less than the predetermined number;

a position and orientation correction step of correcting the position and orientation estimated in the position and orientation estimation step using the correction method selected in the selection step.

2. The position and orientation detection method according to claim 1, wherein the first correction method corrects the position and orientation estimated in the position and orientation estimation step so that a distance between the identified indicator pairs becomes minimal.

3. The position and orientation detection method according to claim 1, wherein the second correction method corrects the position and orientation estimated in the position and orientation estimation step based on correcting so that at least one of the identified indicator pairs matches.

4. The position and orientation detection method according to claim 1, wherein in the position and orientation correction step, the position and orientation estimated in the position and orientation estimation step are taken directly as post-correction position and orientation in a case in which there are no identified indicator pairs.

5. A program stored on a computer-readable medium for causing a computer to execute the steps of the position and orientation detection method of claim 1.

6. A position and orientation detection apparatus for detecting a position and orientation of an image sensing apparatus that senses real space, the apparatus comprising:

an orientation change detection unit adapted to detect an extent of change in orientation of the image sensing apparatus;

a first image coordinates computation unit adapted to obtain coordinates in an image of indicators includes in a real space image sensed by the image sensing apparatus;

a position and orientation estimation unit adapted to estimate a present position and orientation of the image sensing apparatus based on position and orientation of the image sensing apparatus obtained previously and the extent of change in orientation of the image sensing apparatus obtained by the orientation change detection unit;

a second image coordinates computation unit adapted to obtain coordinates of indicators in a sensed image display screen of the image sensing apparatus at the position and orientation obtained by the position and orientation estimation unit;

an identification unit for identifying corresponding pairs of indicators from among the indicators obtained by the first and second image coordinates computation units;

a counting unit for counting a number of the pairs of indicators identified by the identification unit;

a selection unit for selecting a first correction method if the number of the identified pairs of indicators is more than or equal to a predetermined number, and selecting a second correction method if the number of the identified pairs of indicators is less than the predetermined number; and

a position and orientation correction unit adapted to correct the position and orientation estimated by the position and orientation estimation unit using the correction method selected by the selection unit.