Identifying apparatus and method, position detecting apparatus and method, robot apparatus and color extracting apparatus

• US 6,453,055 B1
• Filed: 06/09/1999
• Issued: 09/17/2002
• Est. Priority Date: 09/30/1996
• Status: Expired due to Fees

• Current Assignee: Sony Corporation (Sony Group Corp.)
• Original Assignee: Sony Corporation (Sony Group Corp.)
• Inventors: Fukumura, Naohiro, Inoue, Makoto, Hanagata, Osamu, Sabe, Kotaro
• Primary Examiner(s): Patel, Jayanti K.
• Application Number:
  US09/328,680
• Time in Patent Office: 1,196 Days
• Field of Search: 382/100, 382/103, 382/107, 382/108, 382/109, 382/153, 382/162-165, 382/216-219, 382/236, 382/274, 382/365, 345/340, 348/169, 348/273, 348/669, 348/118, 348/140, 348/170
• US Class Current: 382/103
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G06V 10/245 by locating a pattern; Special marks for positioning
• CPC Class Codes: G06V 10/40 Extraction of image or video features
• CPC Class Codes: G06V 10/56 relating to colour

Abstract

An identifying apparatus and method and a robot apparatus capable of reliably identifying other moving objects or other objects, a position detecting apparatus and method and a robot apparatus capable of accurately detecting the position of a moving object or itself within a region, and a color extracting apparatus capable of accurately extracting a desired color are difficult to be realized. Objects are provided with identifiers having different color patterns such that the color patterns are detected and identified through image processing. Also, the objects of interest are given color patterns different from each other, such that the position of the object can be detected by identifying the color pattern through image processing. Further, a plurality of wall surfaces having different colors are provided along the periphery of the region, such that the position of an object is detected on the basis of the colors of the wall surfaces through image processing. Further, a luminance level and color difference levels are sequentially detected for each of pixels to extract a color by determining whether or not the color difference levels are within a predetermined range.

Claims

1. An identifying system for identifying a plurality of mobile objects moving within a predetermined region, comprising:

shooting means for shooting the entire region;

color pattern detecting means for respectively detecting color patterns at predetermined positions of the respective mobile objects, wherein the color patterns are different for each mobile object;

identifying means for identifying each mobile object based on the detection result of the color pattern detecting means and previously stored information on the color patterns given to the mobile objects; and

position detecting means for detecting a position of each mobile object within the region based on a position of the color pattern of each mobile object within the image represented by the first image information supplied from the shooting means.

2. The identifying system according to claim 1, wherein each of the color patterns is formed by a plurality of concentric annular regions and wherein the regions are painted in a predetermined number of colors selected from a plurality of colors.

3. The identifying system according to claim 2, wherein each color pattern includes regions extending in a radial direction from the annular regions.

4. The identifying system according to claim 1, wherein each of the color patterns is formed by a combination of a plurality of colors which are separated from each other by a first distance in a predetermined color space;

and

the color pattern detecting means converts the first image information supplied from the shooting means into second image information according to the corresponding color space, and then detects the color pattern of each mobile object based on the second image information.

5. The identifying system according to claim 4, wherein

each of said color patterns is formed by selecting said combination of colors so that adjacent colors are away from each other by a second distance longer than said first distance in said color space.

6. An identifying system for identifying a plurality of mobile objects moving within a predetermined region, comprising:

shooting means for shooting the entire region;

color pattern detecting means for respectively detecting color patterns at predetermined positions of the respective mobile objects wherein the color patterns are different for each mobile object;

identifying means for identifying each mobile object based on the detection result of the color pattern detecting means and previously stored information on the color patterns given to the respective mobile objects; and

emitting means provided in each mobile object for emitting light having the corresponding color pattern.

7. An identifying method for identifying a plurality of mobile objects moving within a predetermined region, comprising:

arranging shooting means for shooting the entire region at a predetermined position, and adding different color patterns at predetermined positions of the respective mobile objects;

detecting the color pattern of each mobile object based on first image information outputted from the shooting means;

identifying each mobile object based on the detected color pattern and previously stored color patterns provided on the respective mobile objects; and

detecting a position of each mobile object within the region based on a position of the color pattern of each mobile object within the image represented by the first image information supplied from the shooting means.

8. The identifying method according to claim 7, wherein each of the color patterns is formed by a plurality of concentric annular regions and the regions are painted in a predetermined number of colors selected from a plurality of predetermined colors.

9. The identifying method according to claim 8, wherein each of the color patterns includes regions extending in a radial direction from the annular regions.

10. The identifying method according to claim 7, wherein each of the color patterns is formed by combining a plurality of colors separated from each other by a first distance in a predetermined color space;

and wherein the first image information supplied from the shooting means is converted into second image information according to the corresponding color space and detects the color pattern of each mobile object based on the second image information.

11. The identifying method according to claim 10, wherein

each of said color patterns is formed by selecting said combination of colors so that adjacent colors are away from each other by a second distance longer than said first distance in said color space.

12. A position detecting apparatus for detecting positions of mobile objects moving within a predetermined region, within said region, comprising:

a plurality of wall surfaces, disposed along the periphery of said region, having different colors from each other;

shooting means, provided in said mobile object, for shooting said corresponding predetermined wall surface;

color and relative position detecting means for detecting a color of said wall surface shot by said shooting means and a relative position of said mobile object with respect to said wall surface, based on first image information outputted from said shooting means; and

position detecting means for detecting a position of said mobile object within said region, based on each detection result of said color and relative position detecting means, and colors of all said wall surfaces and map information on said region including positions of said wall surfaces previously stored.

13. The position detecting apparatus according to claim 12, wherein:

colors which are away from each other by a predetermined first distance in a predetermined color space are selected as colors of said respective wall surfaces; and

said color and relative position detecting means converts said first image information supplied from said shooting means into second image information according to said color space, and then detects a color of said wall surface shot by said shooting means based on said second image information.

14. The position detecting apparatus according to claim 12, wherein

color of each said wall surface is selected so that said colors of said adjacent wall surfaces are away from each other by a second distance longer than said first distance in said color space.

15. The position detecting apparatus according to claim 12, wherein

each said wall surface emits light having said corresponding color toward said region.

16. The position detecting apparatus according to claim 15, wherein:

each said wall surface, assuming that a slant line or a temporary line from one end to the other end in a longitudinal direction of each said wall surface is a boundary, is painted in said respective colors, of which hues are the same and of which saturation are different, at portions above and below said slant line or temporary line; and

said color and relative position detecting means detects a distance from one end of said wall surface of said mobile object in a direction parallel to said wall surface, based on ratio of length of said portion above or below said slant line or temporary line of said wall surface with respect to height of said wall surface within an image represented by said first video signal, as said relative position of said mobile object with respect to wall surface.

17. A position detecting means for detecting positions in said region of mobile objects moving within a predetermined region, comprising

shooting means, provided in said mobile object, for shooting said corresponding predetermined wall surface out of a plurality of wall surfaces which are disposed along the periphery of said region and which have different colors from each other;

color and relative position detecting means for detecting a color of said wall surface shot by said shooting means and a relative position of said mobile object with respect to said wall surface, based on first image information outputted from said shooting means; and

position detecting means for detecting a position of said mobile object within said region, based on each detection result of said color and relative position detecting means, and colors of all said wall surfaces and map information on said region including positions of said wall surfaces previously stored.

18. The position detecting means according to claim 17, wherein:

colors which are away from each other by a predetermined first distance in a predetermined color space are selected as said colors of said respective wall surfaces; and

said color and relative position detecting means converts said first image information supplied from said shooting means into second image information according to said color space, and then detects a color of said wall surface shot by said shooting means, based on said second image information.

19. The position detecting means according to claim 17, wherein:

each said wall surface is colored so that saturation of said colors change in a longitudinal direction of each said wall surface; and

said color and relative position detecting means detects a distance from one end of said wall surface of said mobile object in a direction parallel to said wall surface, based on saturation of colors of said wall surface within an image represented by said first image information, as said relative position of said mobile object with respect to said wall surface.

20. The position detecting means according to claim 17, wherein:

a slant line is drawn from one end to the other end in a longitudinal direction of said wall surface, on each said wall surface; and

said color and relative position detecting means detects a distance from one end of said wall surface of said mobile object in a direction parallel to said wall surface, based on ratio of length of portion above or below said slant line of said wall surface with respect to height of said wall surface within an image represented by said first video signal, as said relative position of said mobile object with respect to said wall surface.

21. A position detecting apparatus for detecting positions in said region of mobile objects moving within a predetermined region, comprising:

a first step of providing a plurality of wall surfaces having different colors from each other, along the periphery of said region;

a second step of shooting said wall surface by shooting means provided in said mobile object, and detecting a color of said wall surface shot by said shooting means and a relative position with respect to said wall surface based on obtained first image information; and

a third step of detecting a position of said mobile object within said region based on the color of said wall surface and the relative position with respect to said wall surface detected by said second step, and colors of all said wall surfaces and map information on said region including positions of all said wall surfaces previously stored.

22. The position detecting method according to claim 21, wherein:

colors which are away from each other by a predetermined first distance in a predetermined color space are selected as said colors of said respective wall surfaces; and

said second step converts said first image information supplied from said shooting means into second image information according to said corresponding color space, and then detects a color of said wall surface shot by said shooting means based on said second image information.

23. The position detecting method according to claim 22, wherein

said colors of each said wall surface are selected so that said colors of said adjacent wall surfaces are away from each other by a second distance longer than said first distance in said color space.

24. The position detecting method according to claim 21, wherein

each said wall surface is colored so that saturation of said colors change in a longitudinal direction of each said wall surface;

and

said second step detects a distance form one end of said wall surface to said mobile object in a direction parallel to said wall surface, based on saturation of said color of said wall surface within an image represented by said first image information, as said relative position of said mobile object with respect to said wall surface.

25. The position detecting method according to claim 21, wherein:

a slant line is drawn from one end to the other end in a longitudinal direction of said wall surface, on each said wall surface; and

said second step detects a distance from one end of said wall surface of said mobile object in a direction parallel to said wall surface, based on ratio of length of portion above or below said slant line of said wall surface with respect to height of said wall surface within the image represented by said first video signal, as said relative position of said mobile object with respect to said wall surface.

26. The position detecting method according to claim 21, wherein:

each said wall surface, assuming that a slant line or a temporary line from one end to the other end in a longitudinal direction of each said wall surface is a boundary, is painted in said respective colors, of which hues are the same and of which saturation are different, at portions above and below said slant line or temporary line; and

said second step detects a distance from one end of said wall surface of said mobile object in a direction parallel to said wall surface, based on ratio of length of said portion above or below said slant line or said temporary line of said wall surface with respect to height of said wall surface within the image represented by said first video signal, as said relative position of said mobile object with respect to said wall surface.

27. The position detecting method according to claim 21, wherein

each said wall surface emits said corresponding color toward said region.

28. A robot apparatus movable within a predetermined region, comprising:

shooting means for shooting said corresponding predetermined wall surface out of a plurality of wall surfaces, disposed along the periphery of said region, having different colors from each other;

color and relative position detecting means for detecting a color of said wall surface shot by said shooting means and a relative position with respect to wall surface, based on first image information outputted from said shooting means; and

position detecting means for detecting a position of said mobile object within said region based on each detecting result of said color and relative position detecting means, and colors of all said wall surfaces and map information on said region including positions of said respective wall surfaces previously stored.

29. The robot apparatus according to claim 28, wherein:

colors which are away from each other by a predetermined first distance in a predetermined color space are selected as said colors of said respective wall surfaces; and

said color and relative position detecting means converts said first image information supplied from said shooting means into second image information according to said color space, and then detects a color of said wall surface shot by said shooting means based on said second image information.

30. The robot apparatus according to claim 28, wherein:

each said wall surface is colored so that saturation of said color changes in a longitudinal direction of each said wall surface; and

said color and relative position detecting means detects a distance form one end of said wall surface of said mobile object in a direction parallel to said wall surface, based on saturation of the color of said wall surface within an image represented by said first image information, as said relative position of said mobile object with respect to said wall surface.

31. The robot apparatus according to claim 28, wherein

a slant line is drawn from one end to the other end in a longitudinal direction of said wall surface, on each said wall surface;

and

said color and relative position detecting means detects a distance from one end of said wall surface of said mobile object in a direction parallel to said wall surface, based on ratio of length of portion above or below said slant line of said wall surface with respect to height of said wall surface within an image represented by said first video signal, as said relative position of said mobile object with respect to said wall surface.

32. The robot apparatus according to claim 28, wherein

each said wall surface, assuming that a slant line or a temporary line from one end to the other end in a longitudinal direction of each said wall surface is a boundary, is painted in said respective colors, of which hues are the same and of which saturation are different, at portions above and below said slant line or temporary line;

and

said color and relative position detecting means detects a distance from one end of said wall surface of said mobile object in a direction parallel to said wall surface, based on ratio of length of said portion above or below said slant line or said temporary line of said wall surface with respect to height of said wall surface within the image represented by said first video signal, as said relative position of said mobile object with respect to wall surface.