Position and orientation measurement method and position and orientation measurement apparatus

• US 8,731,243 B2
• Filed: 12/20/2012
• Issued: 05/20/2014
• Est. Priority Date: 11/28/2006
• Status: Active Grant

• Current Assignee: Canon Kabushiki Kaisha (Canon Inc.)
• Original Assignee: Canon Kabushiki Kaisha (Canon Inc.)
• Inventors: Aratani, Shinichi, Satoh, Kiyohide, Kotake, Daisuke
• Primary Examiner(s): Tabatabai, Abolfazl
• Application Number:
  US13/722,144
• Publication Number:
  US 20130108112A1
• Time in Patent Office: 516 Days
• Field of Search: 382/103, 382/107, 382/216, 382/286, 382/291, 382/296, 382/297, 345/153, 345/633, 345/158, 345/659, 702/1, 702/127, 702/150, 702/153, 702/1.27, 702/27, 348169-172
• US Class Current: 382/103
• CPC Class Codes: G01C 11/04 Interpretation of pictures
• CPC Class Codes: G06T 2207/10016 Video; Image sequence
• CPC Class Codes: G06T 2207/30208 Marker matrix
• CPC Class Codes: G06T 2207/30244 Camera pose
• CPC Class Codes: G06T 7/246 using feature-based methods, e.g. the tracking of corners or segments
• CPC Class Codes: G06T 7/73 using feature-based methods

Abstract

Indices allocated or set on an object are detected from sensed images of frames, which are time-serially sensed by an image sensing device. In association with each index detected from the sensed image of the frame of interest, a detection condition from frames before the frame of interest is acquired. According to the acquired detection condition of the index, the reliability of this index is calculated. The position and orientation of the object or the image sensing device are calculated using at least information associated with the image coordinates of the detected indices and the reliabilities of the indices.

Claims

1. A position and orientation measurement method, comprising:

an input step of inputting sensed images of a plurality of frames time-serially sensed by an image sensing device;

a detection step of detecting indices allocated in a physical space from each of the sensed images;

an acquisition step of acquiring, with respect to each of the indices detected in the sensed image of a frame of interest, a detection state of an identical index from frames before the frame of interest; and

an estimation step of estimating a position and orientation of the image sensing device using at least information associated with image coordinates of the respective indices detected from the frame of interest in the detection step and the detection state of the identical index from the frames before the frame of interest acquired in the acquisition step.

2. The method according to claim 1, wherein, in the acquisition step, as the detection state, continuity of detection of the identical index in the sensed images of the respective frames before the frame of interest is acquired.

3. The method according to claim 1, wherein in the acquisition step, as the detection state, the number of times of detection of the identical index in the sensed images of the respective frames before the frame of interest is acquired.

4. The method according to claim 1, wherein in the acquisition step, as the detection state, the number of times of continuous detection of the identical index in the sensed images of the respective frames before the frame of interest is acquired.

5. The method according to claim 1, further comprising a weighting step of weighting the indices detected in the sensed image of the frame of interest according to the detection states of the respective indices acquired in the acquisition step;

and

wherein, in the estimation step, the position and orientation of the image sensing device is estimated using the information associated with image coordinates of the respective indices in the frame of interest weighted in the weighting step.

6. A non-transitory computer-readable storage medium storing a computer program for making a computer execute a position and orientation measurement method according to claim 1.

7. The method according to claim 1, further comprising an obtaining step of obtaining an initial position and orientation of the image sensing device;

and wherein, in the estimation step, a current position and orientation of the image sensing device is estimated using the initial position and orientation of the image sensing device.

8. A position and orientation measurement apparatus, comprising:

an input unit configured to input sensed images of a plurality of frames time-serially sensed by an image sensing device;

a detection unit adapted to detect indices allocated in a physical space from each of the sensed images;

an acquisition unit configured to acquire, with respect to each of the indices detected in the sensed image of a frame of interest, a detection state of an identical index from frames before the frame of interest;

an estimation unit configured to estimate a position and orientation of the image sensing device using at least information associated with image coordinates of the respective indices detected from the frame of interest by the detection unit and the detection state of the identical index from the frames before the frame of interest acquired by the acquisition unit.