CN114127506A - Mobile positioning device and mobile positioning system - Google Patents
Mobile positioning device and mobile positioning system Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G—PHYSICS
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Abstract
The invention provides a mobile body positioning device capable of calculating the position of a mobile body with high precision. The disclosed device is provided with: an image processing unit that calculates coordinates of a landmark and a marker in an image of a moving object based on the image of the marker when the marker is captured by a camera provided so that the landmark of a building enters the inside of a capturing range; and a position calculation unit that calculates relative coordinates of the mobile object with respect to the landmark in actual coordinates, based on the calculation result of the image processing unit.
Description
Technical Field
The present invention relates to a mobile positioning device and a mobile positioning system.
Background
Patent document 1 discloses a mobile body position measuring device. The position of the mobile object can be calculated by the mobile object positioning apparatus.
Documents of the prior art
Patent document
Patent document 1: japanese patent laid-open publication No. 2010-288112
Disclosure of Invention
Problems to be solved by the invention
However, the mobile body positioning device described in patent document 1 uses the speed of the mobile body when calculating the position of the mobile body. Therefore, the error in the position of the moving body may become large.
The present invention has been made to solve the above problems. An object of the present invention is to provide a mobile body positioning device and a mobile body positioning system capable of calculating the position of a mobile body with high accuracy.
Means for solving the problems
A mobile position measuring device according to the present invention includes: an image processing unit that calculates coordinates of a landmark and a marker in an image of a moving object based on the image of the marker when the marker is captured by a camera provided so that the landmark of a building enters the inside of a capturing range; and a position calculation unit that calculates relative coordinates of the mobile object with respect to the landmark in actual coordinates, based on the calculation result of the image processing unit.
A mobile positioning system according to the present invention includes: a camera provided so that a landmark of a building enters the inside of a shooting range; and the moving object positioning apparatus according to any one of claims 1 to 7, which calculates relative coordinates of the moving object with respect to a landmark in actual coordinates, based on an image obtained when a marker provided on the moving object is captured by the camera.
ADVANTAGEOUS EFFECTS OF INVENTION
According to the present invention, the mobile object positioning device calculates the relative coordinates of the mobile object with respect to the landmark in the actual coordinates, based on the images of the landmark and the marker. Therefore, the position of the mobile body can be calculated with high accuracy.
Drawings
Fig. 1 is a configuration diagram of a mobile positioning system according to embodiment 1.
Fig. 2 is a diagram showing relative vectors calculated in the mobile positioning system according to embodiment 1.
Fig. 3 is a flowchart for explaining an outline of the operation of the mobile positioning device of the mobile positioning system according to embodiment 1.
Fig. 4 is a hardware configuration diagram of a mobile positioning device of the mobile positioning system according to embodiment 1.
Fig. 5 is a configuration diagram of a mobile positioning system according to embodiment 2.
Fig. 6 is a flowchart for explaining an outline of the operation of the mobile positioning device of the mobile positioning system according to embodiment 2.
Fig. 7 is a configuration diagram of a mobile positioning system according to embodiment 3.
Fig. 8 is a flowchart for explaining an outline of the operation of the mobile positioning device of the mobile positioning system according to embodiment 3.
Detailed Description
The mode for carrying out the invention is explained in accordance with the drawings. In the drawings, the same or corresponding portions are denoted by the same reference numerals. Repeated explanation of this portion is appropriately simplified or omitted.
Embodiment 1.
Fig. 1 is a configuration diagram of a mobile positioning system according to embodiment 1.
In fig. 1, a landmark 1 is installed in a building. The landmark 1 is set to enable image recognition. For example, landmark 1 is a two-dimensional barcode. For example, the landmark 1 is a part of a building and is a part of a characteristic shape.
The mobile body 2 is provided to be capable of autonomous movement. The mark 3 is provided on the upper surface of the moving body 2. For example, the mark 3 is a two-dimensional barcode.
The mobile body positioning system includes at least one camera 4 and a mobile body positioning device 5.
The camera 4 is provided in the ceiling of a building, for example. The camera 4 is configured in such a manner that the landmark 1 enters the shooting range.
The mobile body positioning device 5 includes an image processing unit 6 and a position calculating unit 7.
The image processing unit 6 includes a landmark detecting unit 6a, a landmark coordinate calculating unit 6b, a marker detecting unit 6c, and a marker coordinate calculating unit 6 d.
The landmark detecting unit 6a detects the landmark 1 from the image of the camera 4. The landmark coordinate calculation unit 6b calculates coordinates of the landmark 1 inside the image of the camera 4 based on the detection result of the landmark detection unit 6 a. The mark detection unit 6c detects the mark 3 from the image of the camera 4 when the moving body 2 enters the shooting range of the camera 4. The marker coordinate calculation unit 6d calculates the coordinates of the marker 3 in the image of the camera 4 based on the detection result of the marker detection unit 6 c.
The position calculation unit 7 includes a camera internal parameter storage unit 7a, a landmark shape size storage unit 7f, an intra-image relative vector calculation unit 7b, and an actual intra-coordinate relative vector calculation unit 7 c.
The camera internal parameter storage unit 7a stores information of internal parameters of the camera 4. The landmark shape and size storage unit 7f stores information on the shape and size of the landmark. The information of the landmark shape and size is information for enabling reproduction of a figure conforming to the landmark 1. For example, when the landmark 1 is a polygon, information having the length of each side and the corresponding internal angle may be used as the information of the landmark shape size.
The intra-image relative vector calculation unit 7b calculates a relative vector between the coordinates of the landmark 1 and the coordinates of the marker 3 in the image from the camera 4 of the image processing unit 6. The in-actual-coordinate relative vector calculator 7c converts the relative vector calculated by the in-image relative vector calculator 7b into a relative vector between the coordinates of the landmark 1 and the coordinates of the marker 3 in the actual coordinates, based on the information stored in the camera internal parameter storage 7a, the information stored in the landmark shape and size storage 7f, and the information of the coordinates of the landmark 1 output from the landmark detector 6 a.
In addition, the coordinates of the landmark 1 inside the image indicate the position of the landmark 1 on the projection plane of the camera 4. Therefore, by solving the pnp problem, which is a well-known method, for example, from the landmark shape size and the coordinates of the landmark 1, a projection matrix representing the relationship of the coordinate system of the camera 4 and the actual coordinate system is calculated. Next, a matrix obtained by correcting the internal parameters of the camera 4 with respect to the projection matrix is multiplied by the relative vector in the image, thereby obtaining a relative vector in the actual coordinates.
Next, a relative vector between the coordinates of the landmark 1 and the coordinates of the marker 3 in the image of the camera 4 will be described with reference to fig. 2.
Fig. 2 is a diagram showing relative vectors calculated in the mobile positioning system according to embodiment 1.
As shown in fig. 2, plane coordinates are set in advance with the position of the landmark 1 as the origin inside the image of the camera 4. In planar coordinates, the x-axis and the y-axis are mutually orthogonal. The relative vector is defined by the distance of landmark 1 from marker 3 and the angle of the orientation of marker 3 with respect to the x-axis.
Next, an outline of the operation of the mobile positioning device 5 will be described with reference to fig. 3.
Fig. 3 is a flowchart for explaining an outline of the operation of the mobile positioning device of the mobile positioning system according to embodiment 1.
In step S1, the mobile object positioning device 5 detects the landmark 1. Then, the moving object positioning device 5 performs the operation of step S2. In step S2, the mobile object positioning device 5 calculates the coordinates of the landmark 1 inside the image of the camera 4.
Then, the moving object positioning device 5 performs the operation of step S3. In step S3, the mobile object positioning device 5 determines whether or not the marker 3 is detected. If the marker 3 is not detected in step S3, the mobile object positioning device 5 performs the operation of step S3. When the marker 3 is detected in step S3, the mobile object positioning device 5 performs the operation of step S4. In step S4, the mobile object positioning device 5 calculates the coordinates of the marker 3 inside the image of the camera 4.
Then, the moving object positioning device 5 performs the operation of step S5. In step S5, the mobile object positioning device 5 calculates a relative vector between the coordinates of the landmark 1 and the coordinates of the landmark 3 inside the image of the camera 4.
Then, the moving object positioning device 5 performs the operation of step S6. In step S6, a relative vector of the coordinates of the landmark 1 and the coordinates of the landmark 3 in the actual coordinates is calculated. After that, the mobile positioning device 5 ends the operation.
According to embodiment 1 described above, the mobile object positioning device 5 calculates the relative coordinates of the mobile object 2 with respect to the landmark 1 in the actual coordinates, from the images of the landmark 1 and the marker 3. Therefore, the position of the mobile body 2 can be calculated with high accuracy.
The moving object positioning device 5 calculates the relative coordinates of the moving object 2 with respect to the landmark 1 in the actual coordinates by converting the relative vector between the coordinates of the landmark 1 and the coordinates of the landmark 3 in the image of the camera 4 into the relative vector between the coordinates of the landmark 1 and the coordinates of the landmark 3 in the actual coordinates, using the internal parameters of the camera 4, the information stored in the landmark shape and size storage unit 7f, and the information on the coordinates of the landmark 1 output by the landmark detecting unit 6 a. Therefore, the position of the mobile body 2 can be calculated more reliably and with higher accuracy.
The position calculation unit 7 may store information on the absolute coordinates of the landmark 1 and calculate the absolute coordinates of the moving object 2 based on the absolute coordinates of the landmark 1 and the relative vector between the coordinates of the landmark 1 and the coordinates of the marker 3 in the actual coordinates. In this case, the absolute position of the moving body 2 can be calculated more reliably and with higher accuracy.
Next, an example of the mobile positioning device 5 will be described with reference to fig. 4.
Fig. 4 is a hardware configuration diagram of a mobile positioning device of the mobile positioning system according to embodiment 1.
The functions of the mobile positioning device 5 can be implemented by a processing circuit. For example, the processing circuit is provided with at least 1 processor 100a and at least 1 memory 100 b. For example, the processing circuit includes at least 1 dedicated hardware 200.
When the processing circuit includes at least 1 processor 100a and at least 1 memory 100b, each function of the mobile positioning device 5 is implemented by software, firmware, or a combination of software and firmware. At least one of the software and the firmware is described in the form of a program. At least one of the software and the firmware is stored in at least 1 memory 100 b. The at least 1 processor 100a reads out and executes the program stored in the at least 1 memory 100b to realize each function of the mobile body positioning device 5. The at least one processor 100a is also referred to as a central processing unit, a processing unit, an arithmetic unit, a microprocessor, a microcomputer, or a DSP. For example, at least 1 memory 100b is a nonvolatile or volatile semiconductor memory such as RAM, ROM, flash memory, EPROM, EEPROM, or the like, a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, a DVD, or the like.
In case the processing circuit is provided with at least 1 dedicated hardware 200, the processing circuit is for example realized by a single circuit, a complex circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof. For example, each function of the mobile positioning device 5 is realized by a processing circuit. For example, the functions of the mobile positioning device 5 are realized by a processing circuit.
The functions of the mobile positioning apparatus 5 may be implemented partially by dedicated hardware 200 and partially by software or firmware. For example, the function of the image processing unit 6 may be realized by a processing circuit as dedicated hardware 200, and a function other than the function of the image processing unit 6 may be realized by at least 1 processor 100a reading out and executing a program stored in at least 1 memory 100 b.
In this way, the processing circuit implements the functions of the mobile positioning device 5 by hardware 200, software, firmware, or a combination thereof.
Embodiment 2.
Fig. 5 is a configuration diagram of a mobile positioning system according to embodiment 2. The same or corresponding portions as those in embodiment 1 are denoted by the same reference numerals. The description of this part is omitted.
The image processing unit 6 includes a flag setting height calculating unit 6 e.
The mark setting height calculating section 6e reads the height information from the image of the mark 3. For example, the marker set height calculation unit 6e reads the height information embedded in advance in the marker 3 by decoding the information from the image of the marker 3.
The position calculation unit 7 includes a height correction unit 7 d.
The height correction unit 7d performs height correction of the relative vector calculated by the intra-image relative vector calculation unit 7b based on the information stored in the camera internal parameter storage unit 7a and the height information from the image processing unit 6.
The in-actual-coordinate relative vector calculation unit 7c converts the relative vector corrected by the height correction unit 7d into a relative vector of the coordinates of the landmark 1 and the coordinates of the landmark 3 in the actual coordinates, based on the information stored in the camera internal parameter storage unit 7 a.
Next, an outline of the operation of the mobile positioning device 5 will be described with reference to fig. 6.
Fig. 6 is a flowchart for explaining an outline of the operation of the mobile positioning device of the mobile positioning system according to embodiment 2.
In step S11, the mobile object positioning device 5 detects the landmark 1. Then, the moving object positioning device 5 performs the operation of step S12. In step S12, the mobile object positioning device 5 calculates the coordinates of the landmark 1 inside the image of the camera 4.
Then, the moving object positioning device 5 performs the operation of step S13. In step S13, the mobile object positioning device 5 determines whether or not the marker 3 is detected. If the marker 3 is not detected in step S13, the mobile object positioning device 5 performs the operation of step S13. When the marker 3 is detected in step S13, the mobile object positioning device 5 performs the operation of step S14. In step S14, the mobile object positioning device 5 calculates the coordinates of the marker 3 inside the image of the camera 4.
Then, the moving object positioning device 5 performs the operation of step S15. In step S15, the mobile body positioning device 5 reads the height information of the marker 3. Then, the moving object positioning device 5 performs the operation of step S16. In step S16, the mobile object positioning device 5 calculates a relative vector between the coordinates of the landmark 1 and the coordinates of the landmark 3 inside the image of the camera 4.
Then, the moving object positioning device 5 performs the operation of step S17. In step S17, the mobile object positioning device 5 performs height correction of the relative vector between the coordinates of the landmark 1 and the coordinates of the landmark 3 inside the image of the camera 4. Then, the moving object positioning device 5 performs the operation of step S18. In step S18, a relative vector of the coordinates of the landmark 1 and the coordinates of the landmark 3 in the actual coordinates is calculated. After that, the mobile positioning device 5 ends the operation.
According to the embodiment 2 described above, the mobile body positioning device 5 performs the height correction of the relative coordinates of the mobile body 2 with respect to the landmark 1 based on the internal parameters of the camera 4, the height information read by the image processing unit 6, the information stored in the landmark shape and size storage unit 7f, and the coordinates of the landmark 1 output by the landmark detecting unit 6 a. Therefore, the position of the mobile body 2 can be calculated more reliably and with higher accuracy.
Fig. 7 is a configuration diagram of a mobile positioning system according to embodiment 3. The same or corresponding portions as those in embodiment 2 are denoted by the same reference numerals. The description of this part is omitted.
The image processing unit 6 includes an identification information reading unit 6f, a landmark coordinate storage unit 6g, and a landmark difference calculation unit 6 h.
The identification information reading unit 6f reads identification information from the image of the mark 3. The landmark coordinate storage unit 6g stores the information of the coordinates calculated by the landmark coordinate calculation unit 6b for each piece of identification information. The landmark difference calculation unit 6h compares the previous image of the camera 4 with the current image of the camera 4 for each piece of identification information based on the information stored in the landmark coordinate storage unit 6g, thereby calculating the difference between the images of the landmarks 1 in the images of the cameras 4.
The marker coordinate calculation unit 6d calculates the coordinates of the marker 3 in the image of the camera 4 for each piece of identification information. The marker setting height calculating unit 6e reads the height information of the marker 3 in the image of the camera 4 for each piece of the identification information.
The position calculation unit 7 includes a relative vector correction unit 7 e.
The relative vector correction unit 7e corrects the relative vector calculated by the relative vector calculation unit 7c in the actual coordinates for each piece of identification information. At this time, the relative vector correction unit 7e uses the information stored in the camera internal parameter storage unit 7a and the information of the difference between the images of the landmarks 1 from the image processing unit 6.
Next, an outline of the operation of the mobile positioning device 5 will be described with reference to fig. 8.
Fig. 8 is a flowchart for explaining an outline of the operation of the mobile positioning device of the mobile positioning system according to embodiment 3.
In step S21, the mobile object positioning device 5 detects the landmark 1. Then, the moving object positioning device 5 performs the operation of step S22. In step S22, the mobile object positioning device 5 calculates the coordinates of the landmark 1 inside the image of the camera 4.
Then, the moving object positioning device 5 performs the operation of step S23. In step S23, the mobile object positioning device 5 determines whether or not the marker 3 is detected. If the marker 3 is not detected in step S23, the mobile object positioning device 5 performs the operation of step S23. When the marker 3 is detected in step S23, the mobile object positioning device 5 performs the operation of step S24. In step S24, the mobile object positioning device 5 reads the identification information from the image of the marker 3. Thereafter, the operation of step S25 is performed. In step S25, the mobile object positioning device 5 calculates the coordinates of the marker 3 inside the image of the camera 4.
Then, the moving object positioning device 5 performs the operation of step S26. In step S26, the mobile body positioning device 5 reads the height information of the marker 3. Then, the moving object positioning device 5 performs the operation of step S27. In step S27, the mobile object positioning device 5 calculates a relative vector between the coordinates of the landmark 1 and the coordinates of the landmark 3 inside the image of the camera 4.
Then, the moving object positioning device 5 performs the operation of step S28. In step S28, the mobile object positioning device 5 performs height correction of the relative vector between the coordinates of the landmark 1 and the coordinates of the landmark 3 inside the image of the camera 4. Then, the moving object positioning device 5 performs the operation of step S29. In step S29, the mobile object positioning device 5 calculates a relative vector between the coordinates of the landmark 1 and the coordinates of the landmark 3 in the actual coordinates.
Then, the moving object positioning device 5 performs the operation of step S30. In step S30, the mobile object positioning device 5 determines whether or not there is a difference in coordinates of the landmark 1 inside the image of the camera 4.
When the difference between the images of the landmark 1 is present in step S30, the mobile body positioning device 5 performs the operation of step S31. In step S31, the mobile object positioning device 5 calculates the difference in coordinates of the landmark 1. Then, the moving object positioning device 5 performs the operation of step S32. In step S32, the mobile object positioning device 5 corrects the relative vector between the coordinates of the landmark 1 and the coordinates of the landmark 3 in the actual coordinates.
If the difference in the image of the landmark 1 is not present in step S30 or after step S32, the mobile object positioning device 5 ends the operation.
According to embodiment 3 described above, the mobile object positioning device 5 reads the identification information from the image of the marker 3, and recognizes the mobile object 2 based on the identification information. Therefore, the moving body 2 can be easily recognized.
When a plurality of pieces of identification information are read from each of the plurality of marks 3, a plurality of mobile bodies 2 may be identified based on the plurality of pieces of identification information. In this case, the plurality of moving bodies 2 can be easily determined.
The mobile object positioning device 5 corrects the relative vector between the coordinates of the landmark 1 and the coordinates of the marker 3 in the actual coordinates based on the difference between the image of the previous camera 4 and the image of the landmark 1 in the image of the current camera 4. Therefore, even when the positional relationship between the camera 4 and the landmark 1 is unexpectedly changed, the position of the mobile body 2 can be calculated more reliably and with higher accuracy. Further, even when the angle of view of the camera 4 is changed, the position of the mobile object 2 can be calculated with high accuracy.
The mobile positioning device 5 may store the identification information in association with the altitude information. In this case, when the identification information reading unit 6f reads the identification information, the height correction of the relative vector between the coordinates of the landmark 1 and the coordinates of the marker 3 in the image of the camera 4 may be performed based on the height information associated with the identification information.
In embodiments 1 to 3, the mark 3 may be used so that the direction can be recognized. In this case, not only the position of the mobile body 2 but also the direction of the mobile body 2 can be calculated with high accuracy.
In embodiments 1 to 3, a plurality of landmarks 1 may enter the inside of the imaging range of 1 camera 4. In this case, even if 1 landmark 1 is hidden by a passing person or the like in the image of the camera 4, the position of the mobile object 2 can be calculated with high accuracy using the images of the other landmarks 1.
Industrial applicability
As described above, the mobile positioning device and the mobile positioning system according to the present invention can be used for a system for controlling a mobile unit.
Description of the reference symbols
1 landmark, 2 moving object, 3 landmark, 4 camera, 5 moving object positioning device, 6 image processing unit, 6a landmark detecting unit, 6b landmark coordinate calculating unit, 6c landmark detecting unit, 6d landmark coordinate calculating unit, 6e landmark set-up height calculating unit, 6f identification information reading unit, 6g landmark coordinate storing unit, 6h landmark difference calculating unit, 7 position calculating unit, 7a camera internal parameter storing unit, 7b intra-image relative vector calculating unit, 7c intra-actual-coordinate relative vector calculating unit, 7d height correcting unit, 7e relative vector correcting unit, 7f landmark shape and size storing unit, 100a processor, 100b memory, 200 hardware.
Claims (8)
1. A position measuring apparatus for a moving body, wherein,
the mobile positioning device includes:
an image processing unit that calculates coordinates of a landmark and a marker in an image of a moving object based on the image of the marker when the marker is captured by a camera provided so that the landmark of a building enters the inside of a capturing range; and
and a position calculation unit that calculates relative coordinates of the mobile object with respect to the landmark in actual coordinates, based on the calculation result of the image processing unit.
2. The moving body positioning apparatus according to claim 1 wherein,
the position calculation section converts a relative vector of the coordinates of the landmark and the coordinates of the marker inside the image of the camera into a relative vector of the coordinates of the landmark and the coordinates of the marker in actual coordinates using the internal parameters of the camera, the landmark shape size, and the coordinates of the landmark, thereby calculating the relative coordinates of the moving body with respect to the landmark in actual coordinates.
3. The moving body positioning apparatus according to claim 2 wherein,
the image processing section reads height information from an image of the mark,
the position calculation unit performs height correction of the relative coordinates of the mobile object with respect to the landmarks based on the internal parameters of the camera, the landmark shape and size, the coordinates of the landmarks, and the height information read by the image processing unit.
4. The moving body positioning apparatus according to claim 2 or 3, wherein,
the position calculation unit stores information of absolute coordinates of the landmark, and calculates the absolute coordinates of the mobile object based on the absolute coordinates of the landmark and a relative vector between the coordinates of the landmark and the coordinates of the marker in actual coordinates.
5. The moving body positioning apparatus according to any one of claims 2 to 4, wherein,
the image processing unit reads identification information from the image of the mark, and identifies a moving object based on the identification information.
6. The moving body positioning apparatus according to claim 5 wherein,
the image processing unit recognizes a plurality of moving objects based on a plurality of pieces of identification information when the plurality of pieces of identification information are read from the images of the plurality of marks, respectively.
7. The moving body positioning apparatus according to any one of claims 2 to 6, wherein,
the image processing unit calculates a difference between the images of the landmarks in the camera image by comparing the previous image of the camera with the current image of the camera,
the position calculating unit corrects a relative vector between the coordinates of the landmark and the coordinates of the marker in actual coordinates based on the difference calculated by the image processing unit.
8. A system for locating a moving body, wherein,
the mobile positioning system includes:
a camera provided so that a landmark of a building enters the inside of a shooting range; and
the moving body positioning device according to any one of claims 1 to 7, wherein the relative coordinates of the moving body with respect to a landmark in actual coordinates are calculated based on an image obtained when a marker provided on the moving body is captured by the camera.
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Also Published As
| Publication number | Publication date |
|---|---|
| JP7006847B2 (en) | 2022-01-24 |
| JPWO2021002001A1 (en) | 2021-10-28 |
| WO2021002001A1 (en) | 2021-01-07 |
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