Information processing method and information processing apparatus

• US 7,848,903 B2
• Filed: 07/25/2006
• Issued: 12/07/2010
• Est. Priority Date: 07/27/2005
• Status: Expired due to Fees

• Current Assignee: Canon Kabushiki Kaisha (Canon Inc.)
• Original Assignee: Canon Kabushiki Kaisha (Canon Inc.)
• Inventors: Aratani, Shinichi, Satoh, Kiyohide, Kotake, Daisuke, Uchiyama, Shinji
• Primary Examiner(s): West; Jeffrey R
• Application Number:
  US11/459,746
• Publication Number:
  US 20070092161A1
• Time in Patent Office: 1,596 Days
• Field of Search: 702 81- 84, 702/94, 702/95, 702150-155, 702/167, 345/629, 345/632, 345/633
• US Class Current: 702/150
• 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 calibrating a position and orientation of a sensor in an object coordinate system based on an object, the sensor being attached to the object used to measure a position and orientation of the sensor in a world coordinate system, and a position and orientation of the sensor in the object coordinate system is stored in a storage unit, 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 of the sensor in the world coordinate system;

an index detecting step of detecting information about image coordinates of an index attached to the object from the image, wherein a position of the index in the object coordinate system is known;

a position and orientation input step of inputting a position and orientation of the image capturing device in the world coordinate system;

a relative position and orientation calculation step of calculating a relative position and orientation between the index attached to the object and the image capturing device on the basis of the measurement value of the position and orientation of the sensor in the world coordinate system input in the sensor measurement value input step and the position of the index in the object coordinate system;

an image coordinates calculation step of calculating image coordinates of the index in the image on the basis of the position of the index in the object coordination system, the relative position and orientation calculated in the relative position and orientation calculation step, and the position and orientation of the image capturing device input in the world coordinate system in the position and orientation input step;

a difference calculation step of calculating a difference value with the image coordinates detected in the index detecting step and the image coordinates calculated in the image coordinates calculation step;

a correction value calculation step of calculating a correction value of a position and orientation of the sensor in the object coordinate system on the basis of the difference value calculated in the difference calculation step and the relative position and orientation calculated in the relative position and orientation calculation step; and

a calibration step of calibrating the stored position and orientation of the sensor in the object coordinate system on the basis of the correction value.

2. The information processing method according to claim 1, further comprising:

a determination step of determining whether a correction value is more than a threshold value stored in advance; and

re-executing the image input step, the sensor measurement value input step, the position and orientation input step, the relative position and orientation calculation step, the image coordinates calculation step, the difference calculation step, the correction value calculation step, and the calibration step, when the correction value is determined to be more than the threshold value in the determination step.

3. An information processing apparatus to calibrate a position and orientation of a sensor in an object coordinate system based on an object, the sensor being attached to the object used to measure a position and orientation of the sensor in a world coordinate system, the information processing apparatus comprising:

a storage unit adapted to store a position and orientation of the sensor in the object coordinate system;

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 of the sensor in the world coordinate system;

a detecting unit adapted to detect information about image coordinates of an index attached to the object from the image, wherein a position of the index in the object coordinate system is known;

a position and orientation input unit adapted to input a position and orientation of the image capturing device in the world coordinate system;

a relative position and orientation calculation unit adapted to calculate a relative position and orientation between the index attached to the object and the image capturing device on the basis of the measurement value of the position and orientation of the sensor in the world coordinate system input in the sensor measurement value input unit and the position of the index in the object coordinate system;

an image coordinates calculation unit adapted to calculate image coordinates of the index in the image on the basis of the position of the index in the object coordination system, the relative position and orientation calculated in the relative position and orientation calculation unit, and the position and orientation of the image capturing device in the world coordinate system input by the position and orientation input unit;

a difference calculation unit adapted to calculate a difference value with the image coordinates detected in the detecting unit and the image coordinates calculated in the image coordinates calculation unit;

a correction value calculation unit adapted to calculate a correction value of the position and orientation of the sensor in the object coordinate system on the basis of the difference value calculated in the difference calculation unit and the relative position and orientation calculated in the relative position and orientation calculation unit; and

a calibration unit adapted to calibrate the stored position and orientation of the sensor in the object coordinate system on the basis of the correction value.

4. A non-transitory computer-readable medium encoded with a computer program for performing an information processing method for calibrating a position and orientation of a sensor in an object coordinate system based on an object, the sensor being attached to the object used to measure the position and orientation of the sensor in a world coordinate system and the object coordinate system based on the object, the computer including a storage unit that stores a position and orientation of the sensor in the object coordinate system, 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 of the sensor in the world coordinate system;

an index detecting step of detecting information about image coordinates of an index attached to the object from the image, wherein a position of the index in the object coordinate system is known;

a position and orientation input step of inputting a position and orientation of the image capturing device in the world coordinate system;

a relative position and orientation calculation step of calculating a relative position and orientation between the index attached to the object and the image capturing device on the basis of the measurement value of the position and orientation of the sensor in the world coordinate system input in the sensor measurement value input step and the position of the index in the object coordinate system;

an image coordinates calculation step of calculating image coordinates of the index in the image on the basis of the position of the index in the object coordination system, the relative position and orientation calculated in the relative position and orientation calculation step, and the position and orientation of the image capturing device input in the world coordinate system in the position and orientation input step;

a difference calculation step of calculating a difference value with the image coordinates detected in the index detecting step and the image coordinates calculated in the image coordinates calculation step;

a correction value calculation step of calculating a correction value of the position and orientation of the sensor in the object coordinate system on the basis of the difference value calculated in the difference calculation step and the relative position and orientation calculated in the relative position and orientation calculation step; and

a calibration step of calibrating the stored position and orientation of the sensor in the object coordinate system on the basis of the correction value.