Position and orientation measurement method and apparatus
First Claim
Patent Images
1. A position and orientation measurement method comprising:
- a first image input step of inputting a first image captured by a first image capture device which captures an image of a physical space;
a second image input step of inputting a second image captured by a second image capture device which has a fixed position and orientation relative to the first image capture device and has a spatial resolution different from the first image capture device;
a first detection step of detecting, from the first image, a feature amount associated with image coordinates of an index on the physical space;
a second detection step of detecting, from the second image, a feature amount associated with image coordinates of an index on the physical space; and
a position and orientation calculation step of calculating a position and orientation of the first image capture device based on the feature amounts associated with the image coordinates of the index detected in the first detection step and the second detection step,wherein the position and orientation calculation step calculates the position and orientation by multiplying the feature amount associated with the image coordinates of the index detected in the detection step associated with the image captured by the image capture device with the higher spatial resolution of the first detection step and the second detection step by a weight value larger than the feature amount associated with the image coordinates of the index detected in the detection step associated with the image captured by the image capture device with the lower spatial resolution.
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Abstract
A position and orientation measurement apparatus has a subjective-view-index detection unit which detects indices on a physical space from an image captured by a subjective-view camera, an additional subjective-view-index detection unit which detects indices on the physical space from an image captured by an additional subjective-view camera having a spatial resolution different from the subjective-view camera, and a position and orientation estimation unit which calculates the position and orientation of the subjective-view camera using information associated with the image coordinates of the detected indices.
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Citations
14 Claims
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1. A position and orientation measurement method comprising:
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a first image input step of inputting a first image captured by a first image capture device which captures an image of a physical space; a second image input step of inputting a second image captured by a second image capture device which has a fixed position and orientation relative to the first image capture device and has a spatial resolution different from the first image capture device; a first detection step of detecting, from the first image, a feature amount associated with image coordinates of an index on the physical space; a second detection step of detecting, from the second image, a feature amount associated with image coordinates of an index on the physical space; and a position and orientation calculation step of calculating a position and orientation of the first image capture device based on the feature amounts associated with the image coordinates of the index detected in the first detection step and the second detection step, wherein the position and orientation calculation step calculates the position and orientation by multiplying the feature amount associated with the image coordinates of the index detected in the detection step associated with the image captured by the image capture device with the higher spatial resolution of the first detection step and the second detection step by a weight value larger than the feature amount associated with the image coordinates of the index detected in the detection step associated with the image captured by the image capture device with the lower spatial resolution. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 14)
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13. A position and orientation measurement apparatus comprising:
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first image input unit which inputs a first image captured by a first image capture device which captures an image of a physical space; second image input unit which inputs a second image captured by a second image capture device which has a fixed position and orientation relative to the first image capture device and has a spatial resolution different from the first image capture device; first detection unit which detects, from the first image, a feature amount associated with image coordinates of an index on the physical space; second detection unit which detects, from the second image, a feature amount associated with image coordinates of an index on the physical space; and position and orientation calculation unit which calculates a position and orientation of the first image capture device based on the feature amounts associated with the image coordinates of the index detected by the first detection unit and the second detection unit, wherein the position and orientation calculation unit calculates the position and orientation by multiplying the feature amount associated with the image coordinates of the index detected by the detection unit associated with the image captured by the image capture device with the higher spatial resolution of the first detection unit and the second detection unit by a weight value larger than the feature amount associated with the image coordinates of the index detected in the detection unit associated with the image captured by the image capture device with the lower spatial resolution.
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Specification