Method and apparatus for measuring position and orientation

• US 7,782,361 B2
• Filed: 04/05/2006
• Issued: 08/24/2010
• Est. Priority Date: 04/06/2005
• Status: Active Grant

• Current Assignee: Canon Kabushiki Kaisha (Canon Inc.)
• Original Assignee: Canon Kabushiki Kaisha (Canon Inc.)
• Inventors: Satoh, Kiyohide, Kotake, Daisuke
• Primary Examiner(s): Chan; Jason
• Assistant Examiner(s): OSINSKI, MICHAEL S
• Application Number:
  US11/398,350
• Publication Number:
  US 20060227211A1
• Time in Patent Office: 1,602 Days
• Field of Search: 348141-142, 348169-172, 3482082-2084, 348/207.99, 348/211.14, 382289-291, 382/154, 382/103, 702 92- 95, 702150-151, 356/139, 35613902-13906, 356/139.1, 356143-148
• US Class Current: 348/207.99
• CPC Class Codes: G01C 11/00 Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
• CPC Class Codes: G02B 2027/0138 comprising image capture systems, e.g. camera
• CPC Class Codes: G06T 2207/30204 Marker
• CPC Class Codes: G06T 2207/30244 Camera pose
• CPC Class Codes: G06T 7/73 using feature-based methods

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.

Claims

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 a plurality of indices on the object from the captured image;

calculating a variance of respective coordinates in an axis of the detected plurality of indices;

determining whether the detected plurality of indices are placed on an identical horizontal plane by comparing the calculated variance with a predetermined value;

selecting a position and orientation calculating procedure from among a plurality of position and orientation calculating procedures, based on a result of the determination; and

calculating a position and an orientation of one of the object and the image capturing device to which the inclination sensor is mounted based on the measured inclination value, an image coordinate of the detected indices, and known positional information on the detected indices without performing an iterative calculation of correction values of position and orientation, based on the selected position and orientation calculating procedure.

2. The position and orientation measuring method according to claim 1, wherein the calculating step calculates the position and the orientation on the basis of at least three detected indices.

3. The position and orientation measuring method according to claim 1, wherein the calculating step solves simultaneous equations obtained by establishing a linear equation for each of the detected indices.

4. The position and orientation measuring method according to claim 1, further comprising the step of optimizing the position and the orientation on the basis of an image coordinate of the detected indices and the known positional information on the detected indices while the calculated position and the calculated orientation are set as initial values.

5. The position and orientation measuring method according to claim 4, wherein the step of optimizing the position and the orientation includes the step of using iterative calculation.

13. A non-transitory computer-readable medium having stored thereon a program which, when loaded into a computer and executed performs a position and orientation measuring method according to claim 1.

6. A position and orientation measuring method, comprising the steps of:

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 a plurality of indices on the object from the captured image;

calculating a variance of respective coordinates in an axis of the detected plurality of indices;

determining whether the detected plurality of indices are placed on an identical horizontal plane by comparing the calculated variance with a predetermined value;

selecting a position and orientation calculating procedure from among a plurality of position and orientation calculating procedures, based on a result of the determination; and

calculating relative position and relative orientation of the object and the image capturing device based on the first measured inclination value, the second measured inclination value, an image coordinate of the detected indices, and known positional information on the detected indices without performing an iterative calculation of correction values of position and orientation, based on the selected position and orientation calculating procedure.

7. The position and orientation measuring method according to claim 6, wherein the calculating step calculates the relative position and the relative orientation on the basis of at least three detected indices.

8. The position and orientation measuring method according to claim 6, wherein the calculating step solves simultaneous equations obtained by establishing a linear equation for each of the detected indices.

9. The position and orientation measuring method according to claim 6, further comprising the step of optimizing the relative position and the relative orientation on the basis of an image coordinate of the detected indices and the known positional information on the detected indices while the calculated relative position and the calculated relative orientation are set as initial values.

10. The position and orientation measuring method according to claim 9, wherein the optimizing step uses iterative calculation.

14. A non-transitory computer-readable medium having stored thereon a program which, when loaded into a computer and executed performs a position and orientation measuring method according to claim 6.

11. A position and orientation measuring apparatus, comprising:

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 a plurality of indices on the object from the captured image; and

a position and orientation calculator adapted to calculate a variance of respective coordinates in an axis of the detected plurality of indices, determine whether the detected plurality of indices are placed on an identical horizontal plane by comparing the calculated variance with a predetermined value, to select a position and orientation calculating procedure from among a plurality of position and orientation calculating procedures based on a result of the determination and to calculate a position and an orientation of one of the object and the image capturing device to which the inclination sensor is mounted based on the measured inclination value, an image coordinate of the detected indices, and known positional information on the detected indices without performing iterative calculation of correction values of position and orientation, based on the selected position and orientation calculating procedure.

12. A position and orientation measuring apparatus, comprising:

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 a plurality of indices on the object from the captured image; and

a position and orientation calculator adapted to calculate a variance of respective coordinates in an axis of the detected plurality of indices, determine whether the detected plurality of indices are placed on an identical horizontal plane by comparing the calculated variance with a predetermined value, to select a position and orientation calculating procedure from among a plurality of position and orientation calculating procedures based on a result of the determination, and to calculate relative position and relative orientation of the object and the image capturing device based on the first measured inclination value, the second measured inclination value, an image coordinate of the detected indices, and known positional information on the detected indices without performing iterative calculation of correction values of position and orientation, based on the selected position and orientation calculating procedure.