Moving body position determination device, moving body position determination method, and moving body position determination system

Patent metadata

Field	Value
Publication number	US-11900632-B2
Application number	US-202117465191-A
Country	US
Kind code	B2
Filing date	Sep 2, 2021
Priority date	Sep 18, 2020
Publication date	Feb 13, 2024
Grant date	Feb 13, 2024

Abstract

A moving body position determination device includes a communicator, and at least one processor. The at least one processor is configured to acquire an image via the communicator, the image including at least two light-emitting devices of a plurality of light-emitting devices for which coordinate positions in three-dimensional space are known, the plurality of light-emitting devices including two light-emitting devices placed at desired positions at which heights in the three-dimensional space differ, the at least two light emitting devices being imaged by an imaging device attached to a moving body; acquire, on the basis of the acquired image, coordinate positions in the image of the at least two light-emitting devices; and determine, on the basis of the coordinate positions in the three-dimensional space and the coordinate positions in the image, at least one of a coordinate position of the moving body and an orientation the moving body is facing in the three-dimensional space.

First claim

What is claimed is:

1. A moving body position determination device, comprising:
a communicator; and
at least one processor, wherein the at least one processor is configured to
acquire an image via the communicator, the image including at least two light-emitting devices of a plurality of light-emitting devices for which coordinate positions in three-dimensional space are known, the plurality of light-emitting devices including two light-emitting devices placed at desired positions at which heights in the three-dimensional space differ, the image being imaged by an imaging device attached to a moving body,
acquire, based on the acquired image, coordinate positions in the image of the at least two light-emitting devices, and
determine, based on the coordinate positions in the three-dimensional space and the coordinate positions in the image, at least one of a coordinate position of the moving body and an orientation the moving body is facing in the three-dimensional space.

2. The moving body position determination device according to claim 1 , wherein
the at least one processor is configured to
identify, based on a plurality of images, including the image, for which each imaging timing differs, the at least two light-emitting devices that emit in different emission patterns.

3. The moving body position determination device according to claim 1 , wherein
the at least one processor is configured to
acquire a plurality of three-dimensional direction vectors that have a focal point of the imaging device as a starting point and the coordinate positions in the image of the at least two light-emitting devices as ending points, and attitude data expressing a direction that the imaging device is facing, and
acquire, based on the acquired plurality of three-dimensional direction vectors and a height difference in the three-dimensional space between the at least two light-emitting devices, various distances in the three-dimensional space from the imaging device to the at least two light-emitting devices and an optical axis orientation that the imaging device faces.

4. The moving body position determination device according to claim 3 , wherein
the at least one processor is configured to
adjust a longer distance of the acquired various distances.

5. The moving body position determination device according to claim 3 , wherein
the at least one processor is configured to
adjust the various distances in accordance with a ratio of an amount of deviation between the coordinate positions in the three-dimensional space calculated based on the plurality of three-dimensional direction vectors and the acquired various distances.

6. The moving body position determination device according to claim 1 , wherein
the at least one processor is configured to
control such that a coordinate position of a light-emitting device that exists in an outer edge of the image is not used to determine the coordinate position of the moving body.

7. The moving body position determination device according to claim 1 , wherein
the at least one processor is configured to
when an image, acquired after acquiring a first image expressing an image that includes a first light-emitting device and another light-emitting device, is a second image that includes only the first light-emitting device and does not include the other light-emitting device, determine the coordinate position of the moving body based on a movement vector of the moving body to be calculated.

8. The moving body position determination device according to claim 1 , wherein
the at least one processor is configured to
determine the coordinate position of the moving body in accordance with images acquired from a plurality of the imaging device attached to the moving body.

9. A moving body position determination device, comprising:
a communicator; and
at least one processor, wherein the at least one processor is configured to
acquire a first image via the communicator, the first image expressing an image including a first light-emitting device and another light-emitting device of a plurality of light-emitting devices for which coordinate positions in three-dimensional space are known, the plurality of light-emitting devices including two light-emitting devices placed at desired positions in the three-dimensional space, the image being imaged by an imaging device attached to a moving body,
determine, based on the acquired first image, at least one of a coordinate position of the moving body and an orientation the moving body is facing in the three-dimensional space,
calculate, based on a second image acquired after acquiring the first image, a movement vector of the moving body, and
when the second image only includes the first light-emitting device and does not include any other light-emitting devices, determine the coordinate position of the moving body based on the calculated movement vector.

10. A moving body position determination method of a moving body position determination device, the method comprising:
acquiring an image via a communicator, the image including at least two light-emitting devices of a plurality of light-emitting devices for which coordinate positions in three-dimensional space are known, the plurality of light-emitting devices including two light-emitting devices placed at desired positions at which heights in the three-dimensional space differ, the at least two light emitting devices being imaged by an imaging device attached to a moving body;
acquiring, based on the acquired image, coordinate positions in the image of the at least two light-emitting devices; and
determining, based on the coordinate positions in the three-dimensional space and the coordinate positions in the image, at least one of a coordinate position of the moving body and an orientation the moving body is facing in the three-dimensional space.

11. The moving body position determination method according to claim 10 , wherein
the at least one processor is configured to
identify, based on a plurality of images, including the image, for which each imaging timing differs, the at least two light-emitting devices that emit in different emission patterns.

12. The moving body position determination method according to claim 10 , wherein
the at least one processor is configured to
acquire a plurality of three-dimensional direction vectors that have a focal point of the imaging device as a starting point and the coordinate positions in the image of the at least two light-emitting devices as ending points, and attitude data expressing a direction that the imaging device is facing, and
acquire, based on the acquired plurality of three-dimensional direction vectors and a height difference in the three-dimensional space between the at least two light-emitting devices, various distances in the three-dimensional space from the imaging device to the at least two light-emitting devices and an optical axis orientation that the imaging device faces.

13. The moving body position determination method according to claim 12 , wherein
the at least one processor is configured to
adjust a longer distance of the acquired various distances.

14. The moving body position determination method according to claim 12 , wherein
the at least one processor is configured to
adjust the various distances in accordance with a ratio of an amount of deviation between the coordinate positions in the three-dimensional space calculated based on the plurality of three-dimensional direction vectors and the acquired various distances.

15. The moving body position determination method according

Assignees

• Casio Computer Co Ltd

Inventors

• Iizuka Nobuo

Classifications

• G06T7/74 Primary

  involving reference images or patches · CPC title

• G06T7/248

  involving reference images or patches · CPC title

• G06T7/55

  from multiple images · CPC title

• B66F9/0755

  Position control; Position detectors · CPC title

• G06T2207/30204

  Marker · CPC title