Information processing apparatus, information processing method, and recording medium

Patent metadata

Field	Value
Publication number	US-2025104266-A1
Application number	US-202418887281-A
Country	US
Kind code	A1
Filing date	Sep 17, 2024
Priority date	Sep 22, 2023
Publication date	Mar 27, 2025
Grant date	—

Abstract

An information processing apparatus performs positioning processing to acquire coordinate positions inside images of light sources included in an image captured with an imaging device among multiple light sources (position indicators) whose coordinate positions in a three-dimensional space are known to derive at least either of a coordinate position and an orientation of an own device (moving body) in the three-dimensional space based on coordinate positions of the light sources in the three-dimensional space included in the image and the coordinate positions inside the images of the light sources. The information processing apparatus uses information on light sources in which an angle of a light source from the imaging device to a predetermined direction or a prospective angle between light sources in a horizontal direction satisfies a predetermined condition to derive at least either of the coordinate position and the orientation of the own device.

First claim

What is claimed is:

1 . An information processing apparatus comprising one or more processors configured to:
acquire coordinate positions inside images of light sources included in an image captured with an imaging device among a plurality of light sources whose coordinate positions in a three-dimensional space are known, and acquire at least either of a coordinate position and an orientation of the information processing apparatus in the three-dimensional space based on the acquired coordinate positions of the light sources in the three-dimensional space included in the image and the coordinate positions inside the images of the light sources, wherein the one or more processors further are configured to: acquire at least either of the coordinate position and the orientation of the information processing apparatus based on information on light sources in which an angle of a light source from the imaging device to a predetermined direction or a prospective angle between light sources in a horizontal direction satisfies a predetermined condition.

2 . The information processing apparatus according to claim 1 , wherein the one or more processors use information on the plurality of light sources as a combination of two or more light sources including a light source which angle from the imaging device to the predetermined direction is a first threshold value or more, or as a combination of two or more light sources in which a prospective angle therebetween in the horizontal direction satisfies a predetermined condition to derive at least either of the coordinate position and the orientation of the own device.

3 . The information processing apparatus according to claim 2 , wherein the one or more processors use information included in the image on a first light source whose elevation/depression angle from the imaging device is the first threshold value or more, and information on a second light source to derive at least either of the coordinate position and the orientation of the own device.

4 . The information processing apparatus according to claim 2 , wherein the one or more processors use information included in the image on a first light source whose elevation/depression angle from the imaging device is the first threshold value or more, and a second light source whose prospective angle with the first light source in the horizontal direction is a second threshold value or more to derive at least either of the coordinate position and the orientation of the own device.

5 . The information processing apparatus according to claim 4 , wherein
the one or more processors find a distance between the imaging device and the first light source in the horizontal direction based on a height difference between the first light source and the imaging device, and a unit vector of a three-dimensional direction vector using a focal point of the imaging device as a start point and a coordinate position of the first light source in the three-dimensional space as an end point, the one or more processors find a circle on an XY plane on which an X-Y coordinate position of the first light source as a horizontal component of the coordinate position in the three-dimensional space is centered and the distance is a radius, the one or more processors acquire the prospective angle between the first light source and the second light source, the one or more processors find an arc indicative of a position that the imaging device projected on the XY plane can exist based on the X-Y coordinate position of the first light source, the X-Y coordinate position of the second light source, and the prospective angle between the first light source and the second light source, and the one or more processors find an intersection point between the circle and the arc as an X-Y coordinate position of the imaging device.

6 . The information processing apparatus according to claim 4 further comprising a first imaging device and a second imaging device as the imaging device, wherein
when the first light source is included in a first image captured with the first imaging device, and the second light source is included in a second image captured with the second imaging device, the one or more processors find a distance between the first imaging device and the first light source in the horizontal direction based on a height difference between the first light source and the first imaging device, and a unit vector of a three-dimensional direction vector using a focal point of the first imaging device as a start point and a coordinate position of the first light source in the three-dimensional space as an end point,
the one or more processors find a circle on the XY plane on which the X-Y coordinate position of the first light source as the horizontal component of the coordinate position in the three-dimensional space is centered and the distance is a radius,
the one or more processors perform a first process of taking a tentative X-Y coordinate position of the first imaging device on the circle,
the one or more processors perform a second process of finding a tentative orientation of the first imaging device from the tentative X-Y coordinate position of the first imaging device,
the one or more processors perform a third process of finding a tentative X-Y coordinate position of the second imaging device based on a relative positional relationship between the first imaging device and the second imaging device,
the one or more processors perform a fourth process of finding a tentative orientation of the second imaging device from the tentative X-Y coordinate position of the second imaging device, and
the one or more processors repeat the first process, the second process, the third process, and the fourth process until a difference between an azimuth from the second imaging device to the second light source estimated from the tentative X-Y coordinate position and the tentative orientation of the second imaging device, and an azimuth to the second light source inside the second image becomes a threshold value or less.

7 . The information processing apparatus according to claim 1 , wherein the one or more processors use information on three light sources different in horizontal direction position inside the image from one another to derive at least either of the coordinate position and the orientation of the own device.

8 . The information processing apparatus according to claim 7 , wherein
the three light sources are called a first light source, a second light source, and a third light source in order along the horizontal direction of the image, the one or more processors acquire a first prospective angle as a prospective angle between the first light source and the second light source in the horizontal direction, and acquires a second prospective angle as a prospective angle between the second light source and the third light source in the horizontal direction to find a first arc as an arc indicative of positions that the imaging device projected on the XY plane can exist based on an X-Y coordinate position as a horizontal component of a coordinate position of the first light source in the three-dimensional space, an X-Y coordinate position of the second light source, and the first prospective angle, the one or more processors find a second arc as an arc indicative of positions that the imaging device projected on the XY plane can exist based on the X-Y coordinate position of the second light source, the X-Y coordinate position of the third light source, and the second prospective angle, and the one or more processors find an intersection point between the first arc and the second arc as the X-Y coordinate position of the imaging device.

9 . The information processing

Assignees

• Casio Computer Co Ltd

Inventors

• Iizuka Nobuo
• Miyamoto Naotomo
• Kikuchi Masaaki
• Murakami Taichi

Classifications

• G06T2207/30252

  Vehicle exterior; Vicinity of vehicle · CPC title

• G06T2207/30244

  Camera pose · CPC title

• G06T7/73 Primary

  using feature-based methods · CPC title

• G06T7/70 Primary

  Determining position or orientation of objects or cameras (camera calibration G06T7/80) · CPC title