JP5767575B2 - Position measuring apparatus and position measuring system - Google Patents

Description

  The present invention relates to a position measurement device and a position measurement system that calculate position data of a measurement target held by a moving person.

  In program production and movie production, it is widely performed to synthesize a CG or another video with a video shot while moving a shooting camera. In this synthesis, camera data indicating how the photographing camera has moved, that is, the position and orientation of the photographing camera is required.

  Conventionally, VR pedestals (for example, Non-Patent Document 1) utilized in virtual studios and DGS (data gathering system) structures that are mounted on a tripod are known as methods for measuring camera data. ing. For example, the technique described in Non-Patent Document 1 measures the movement and posture of a robot camera as camera data by applying a special work to a pan head to which the robot camera is attached. More specifically, an encoder for detecting the rotation angle of the rotation axis such as pan, tilt, and roll is attached to the camera platform, and the camera data is obtained from the change in the rotation angle that changes as the robot camera moves. Measure.

  In addition, a special system for detecting the movement of a handy camera that is limited to a photography studio is also known. In this magnetic motion detection system, a magnetic transmitter that generates a magnetic field in three axial directions is attached to a handy camera body, and a plurality of sensors for detecting magnetism are provided on the ceiling.

  There is also known software that calculates camera data not by actually measuring the movement of a robot camera but by analyzing an image of a recorded video. This image analysis software, for example, extracts feature points from recorded video and reversely calculates camera data from changes in motion vectors.

  In addition, as a sensor for detecting the posture of an object, a six-axis inertial sensor using MEMS (Micro Electro Mechanical Systems) has recently been highlighted. This inertial sensor is a compact integration of three gyro sensors and three acceleration sensors.

Tsuda et al., “Development of Mobile Robot Camera for Studio Programs”, Journal of the Institute of Image Information and Television Engineers, Vol.62, No.1, pp.84-91 (2008)

However, the technique described in Non-Patent Document 1 requires a dedicated large-scale device (head), and is extremely difficult to use in a non-planar place due to the structure of the wheel part and the restriction of the origin coordinate setting. .
In addition, the conventional DGS can be used outdoors, but, like the technique described in Non-Patent Document 1, a dedicated large-scale device must be used, and is disadvantageous in that it is heavy and poor in mobility.

Furthermore, the conventional magnetic motion detection system is difficult to use outside of the photography studio due to the limitation of the arrangement of the magnetic sensor.
Further, the conventional image analysis software has insufficient accuracy of camera data, and it is extremely difficult to calculate camera data from a video with few features such as scenery.

  Furthermore, the conventional inertial sensor can ensure high accuracy regarding the posture of the photographing camera in the camera data. On the other hand, in the conventional inertial sensor, the position data of the photographing camera can only be derived by double integration of acceleration, and the accuracy cannot be expected at all.

  Therefore, an object of the present invention is to provide a position measurement device and a position measurement system that are excellent in mobility and can measure position data with high accuracy even in a non-flat place.

  In view of the above-described problems, the position measuring apparatus according to the first invention of the present application is a footwear-like or sheet-like sole pressure measuring means for measuring the sole pressure of a moving person, and a maximum load that maximizes the sole pressure. A position data calculation unit that calculates position data of a measurement target held by a moving person based on a region, the position data calculation unit including a storage unit and a maximum load vector generation unit And a moving speed calculating unit, a moving direction calculating unit, and a measurement target position calculating unit.

  According to such a configuration, the foot pressure measuring means can be arranged in a footwear shape, regardless of the measurement location as long as a person can move, and in the case of a sheet shape, in a non-flat location. Therefore, the position measuring device can measure the sole pressure of a moving person even in a non-flat place without requiring a dedicated large-sized device.

  Here, it is considered that the speed of the maximum load region in which the sole pressure is maximum among the entire sole has a high correlation with the moving speed of the person. Since the measurement object moves with this person, it moves at the same speed as this person. That is, there is a high correlation between the moving speed of the measurement target and the speed of the maximum load region. For this reason, the position data calculation means associates in advance the moving speed of the measurement target held by the moving person and the speed of the maximum load area obtained from the sole pressure of both feet of the person by the storage unit. Store the correspondence table.

Further, the position data calculation means obtains the maximum load area where the sole pressure measured by the sole pressure measurement means is maximized by the maximum load vector generator, and the direction of the maximum load area and the direction of the maximum load area by the time change of the maximum load area A maximum load vector indicating the speed is generated. Then, the position data calculating means refers to the correspondence table stored in the storage unit by the moving speed calculating unit, and calculates the moving speed of the measurement target from the speed of the maximum load area represented by the size of the maximum load vector. calculate.
That is, the position data calculation means accurately calculates the moving speed of the measurement object using the speed of the maximum load region that has a high correlation with the moving speed of the measurement object.

  Further, the position data calculation means calculates the direction of the maximum load vector as the movement direction of the measurement object by the movement direction calculation unit. Then, the position data calculation means calculates position data of the measurement target by the measurement target position calculation unit based on the movement speed of the measurement target calculated by the movement speed calculation unit and the movement direction of the measurement target. For example, the measurement target position calculation unit calculates the position data indicated by the movement direction and the movement distance of the measurement target by integrating the movement speed of the measurement target to obtain the movement distance of the measurement target. This position data may be expressed as an absolute position of the measurement target with respect to preset reference coordinates, or may be expressed as a relative position of the measurement target at every measurement interval.

  In the position measurement apparatus according to the second invention of the present application, in the position data calculation means, the storage unit further associates in advance the load balance between both legs of the person and the amount of positional deviation of the measurement target held by the person. A load balance calculation unit that calculates the load balance according to the ratio of the foot pressure of both feet measured by the foot pressure measuring means, and the error table stored in the storage unit, A position data correction unit that calculates a positional deviation amount of the measurement target from the load balance calculated by the balance calculation unit, and corrects the position data calculated by the measurement target position calculation unit based on the calculated positional deviation amount. Features.

  Here, the position of the measurement object changes with regularity when the load balance is broken, based on the balance of the load balance between the front and rear legs. Therefore, the position measurement device can obtain the load balance and correct the displacement of the measurement target.

  Further, the position measuring device according to the third invention of the present application includes a pressure-sensitive sensor in which the foot pressure measuring means is mounted in a shoe or a sole of a person's footwear and measures the pressure of the person's foot, and a pressure-sensitive sensor. And a transmitter for transmitting the measured sole pressure to the position data calculating means.

According to such a configuration, the position measuring device can downsize the sole pressure measuring means to the same size as a person's footwear. Furthermore, since the sole pressure measuring means moves together with the person, the position measuring device can extremely widen the measurement range of the position data.
The footwear of the present invention includes, for example, shoes, boots, sandals or slips.

In the position measuring apparatus according to the fourth invention of the present application, the sole pressure measuring means transmits the pressure sensitive sheet for measuring the sole pressure of the person and the sole pressure measured by the pressure sensitive sheet to the position data calculating means. And a transmitting unit.
According to such a configuration, the position measuring device can configure the sole pressure measuring means with a general pressure-sensitive sheet.

  In the position measurement device according to the fifth invention of the present application, the storage unit stores a correspondence table and an error table for each person, and the moving speed calculation unit refers to the correspondence table for each person, The moving speed is calculated, and the position data correction unit corrects the positional deviation amount of the position data with reference to the error table for each person.

  Here, the correspondence table showing the correlation between the moving speed of the measurement target and the speed of the maximum load region and the error table showing the correlation between the load balance and the position of the measurement target show large individual differences. For this reason, the position measuring apparatus can reflect the individual difference of correlation in position data using the correspondence table and error table corresponding to each individual.

In the position measurement apparatus according to the sixth invention of the present application, the position data calculation means measures an acceleration sensor that measures the acceleration in the three-dimensional direction of the measurement target, and the angular velocity in the pan direction, the tilt direction, and the yaw direction of the measurement target. A gyro sensor, and a posture data calculation unit that calculates posture data indicating a direction of a measurement target from the angular velocity measured by the gyro sensor and the acceleration measured by the acceleration sensor are provided.
According to such a configuration, the position measurement device can measure posture data in addition to position data to be measured.

Further, in the position measuring device according to the seventh invention of the present application, the position data calculating means is attached to the shooting camera as the measurement target, and the measurement target position calculating unit receives the synchronization signal of the shot video shot by the shooting camera, The position data to be measured is calculated in synchronization with the input synchronization signal.
According to this configuration, the position measurement device can measure the position data and the posture data of the shooting camera as camera data in synchronization with the timing at which the shooting camera has shot the shot video.

In the position measurement apparatus according to the eighth invention of the present application, in the position data calculation means, the storage unit further includes a shooting angle of view in which the ring rotation amount of the zoom lens provided in the shooting camera and the angle of view of the shooting camera are associated in advance An encoder that stores the table and measures the amount of rotation of the ring; an angle of view calculation unit that calculates the angle of view of the shooting camera from the amount of ring rotation measured by the encoder with reference to the shooting angle of view table stored by the storage unit; It is characterized by providing.
According to this configuration, the position measurement device can add the angle of view of the photographing camera to the camera data.

  A position measurement system according to the ninth aspect of the present invention includes the position measurement device according to any one of the first to eighth aspects of the present invention and a photographing camera as a measurement target.

According to the present invention, the following excellent effects can be obtained.
According to the first and ninth aspects of the present invention, since the moving speed of the measurement target can be accurately calculated using the speed of the maximum load region having a high correlation with the moving speed of the measurement target, the position data can be measured with high accuracy. Can do. Further, according to the present inventions 1 and 9, since the foot pressure measuring means is in the form of footwear or a sheet, the position data can be measured even in a non-planar place, a dedicated large-sized device is not required, and the mobility is excellent.

According to the second and ninth aspects of the present invention, even when the load balance of a person is lost, the positional deviation of the measurement target held by the person can be corrected, so that the position data can be measured with higher accuracy.
According to the third and ninth inventions of the present application, the sole pressure measuring means can be reduced in size, and thus is more excellent in mobility. Furthermore, according to the third and ninth inventions of the present application, the sole pressure measuring means moves together with the person, so that the measurement range of the position data can be extremely widened.

According to the fourth and ninth aspects of the present invention, since a general pressure-sensitive sheet is used for the foot pressure measuring means, the position measuring device can be configured simply and the cost can be reduced.
According to the fifth and ninth aspects of the present invention, since the individual difference of the correlation is reflected in the position data using the correspondence table and the error table corresponding to each individual, the position data can be measured with higher accuracy.

According to the sixth and ninth inventions of the present application, posture data can be measured in addition to position data to be measured.
According to the seventh and ninth inventions of the present application, since the camera data is measured in synchronization with the timing at which the photographing camera has photographed the photographed video, the time axes of the photographed video and the camera data coincide with each other, so Can be done automatically.
According to the eighth and ninth aspects of the present invention, since the angle of view of the photographing camera is added to the camera data, the video processing can be performed more efficiently.

1 is a schematic diagram of a camera data measurement system according to a first embodiment of the present invention. It is a figure which shows the structure of the pressure data measuring device of FIG. FIG. 3 is a block diagram illustrating signal input / output of each means in the pressure data measuring device of FIG. 2. It is a figure which shows the structure of the arithmetic unit of FIG. FIG. 5 is a block diagram illustrating signal input / output of each means in the arithmetic unit of FIG. 4. In 1st Embodiment of this invention, it is explanatory drawing which showed a mode that the cameraman moved. In 1st Embodiment of this invention, it is a figure explaining the maximum load vector when a photographer advances. In 1st Embodiment of this invention, it is a figure explaining the maximum load vector when a photographer moves to the left front. It is a figure explaining the corresponding | compatible table which the arithmetic unit of FIG. 5 memorize | stores. In 1st Embodiment of this invention, it is explanatory drawing explaining the load balance of a photographer. 6A and 6B are diagrams for explaining an error table stored in the arithmetic device of FIG. 5, in which FIG. 5A shows the relationship between the load balance of both front and rear legs, and FIG. 5B shows the relationship between the load balance and the amount of displacement. It is a flowchart which shows operation | movement of the pressure data measuring device of FIG. It is a flowchart which shows operation | movement of the arithmetic unit of FIG. It is the schematic of the camera data measuring device which concerns on 2nd Embodiment of this invention. It is a figure explaining the structure of the pressure sensitive sheet of FIG. 14, (a) is sectional drawing of a pressure sensitive sheet, (b) is a top view of a pressure sensitive sheet. FIG. 15 is a block diagram illustrating signal input / output of each means in the pressure data measurement device of FIG. 14. It is the schematic of the camera data measuring device which concerns on 3rd Embodiment of this invention. In 4th Embodiment of this invention, it is explanatory drawing explaining an encoder. FIG. 19 is a block diagram illustrating signal input / output of each unit in the arithmetic unit of FIG. 18.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings as appropriate. In each embodiment, means having the same function are denoted by the same reference numerals and description thereof is omitted.

(First embodiment)
[Outline of camera data measurement system]
With reference to FIG. 1, an outline of a camera data measurement system (position measurement system) Sys according to the first embodiment of the present invention will be described.
As shown in FIG. 1A, the camera data measurement system Sys includes a camera data measurement device (position measurement device) 1 and a photographing camera 900 as a measurement target.
The camera data measuring device 1 measures posture data and position data of the photographing camera 900 as camera data, and includes a pressure data measuring device (foot pressure measuring means) 100 and an arithmetic device (position data calculating means). 200.

  The pressure data measuring device 100 is formed in a footwear shape, and measures the sole pressure of the left and right feet of the photographer Cm. Then, the pressure data measuring device 100 transmits the measured sole pressure as pressure data to the arithmetic device 200.

  The arithmetic device 200 receives pressure data (foot pressure) from the pressure data measuring device 100, and the position of the photographing camera 900 held by the moving cameraman Cm based on the maximum load region where the foot pressure is maximum. Data is calculated. The arithmetic device 200 is attached and fixed to the rear part of the photographing camera 900. The arithmetic device 200 measures attitude data of the photographing camera 900 and outputs the attitude data and position data as camera data.

  The photographing camera 900 is a camera that photographs a photographed image of a television program or the like, and is a general shoulder-mounted camera that is photographed by a cameraman Cm on the shoulder. That is, the cameraman Cm takes a picture while moving the floor or the ground back and forth and left and right with the photographing camera 900 placed on the shoulder. In addition, since the cameraman Cm changes the shooting position, the shooting camera 900 may be moved up and down.

  Here, “holding” described in the claims includes not only a state in which the photographing camera 900 is placed on the shoulder of the cameraman Cm but also a state in which the measurement target is placed on the hand, held by the hand, or lifted by the hand. It is.

  In the following description, as shown in FIG. 1B, the x-axis is the left-right direction, the y-axis is the up-down direction, and the z-axis is the front-back direction. A rotation direction θ in which the y-axis is a rotation axis is a pan direction, a rotation direction φ in which the x-axis is a rotation axis is a tilt direction, and a rotation direction ψ in which the z-axis is a rotation axis is a yaw direction.

[Shoe pressure sensor]
<Structure of foot-like pressure sensor>
After describing the structure of the pressure data measuring device 100 with reference to FIG. 2, the signal processing of the pressure data measuring device 100 will be described with reference to FIG.
As shown in FIG. 2, the pressure data measuring device 100 includes a right foot pressure data measuring device 100R and a left foot pressure data measuring device 100L.
Since the pressure data measuring devices 100L and 100R have the same configuration, only the pressure data measuring device 100L will be described, and the description of the pressure data measuring device 100R will be omitted.

The pressure data measurement device 100L includes a shoe 110L, a pressure sensor 120L, and a pressure data transmission unit (transmission unit) 130L.
Specifically, in the pressure data measuring device 100L, the pressure-sensitive sensor 120L is attached (attached) to the sole of the shoe 110L. The pressure-sensitive sensor 120L has the same shape as the sole of the shoe 110L, and measures the sole pressure over the entire sole of the shoe 110L. The signal cable 120La connects the pressure-sensitive sensor 120L and the pressure data transmission unit 130L to output the measured sole pressure. The pressure data transmission unit 130L includes a cylindrical housing fixed to the heel side of the shoe 110L and an antenna 130La protruding from the upper portion of the housing.

<Signal processing of foot pressure sensor>
The pressure-sensitive sensor 120L measures the sole pressure of the photographer Cm. That is, the pressure-sensitive sensor 120L measures how much pressure is applied to which part of the sole of the cameraman Cm when the cameraman Cm who places the photographing camera 900 on the shoulder moves. Then, the pressure sensor 120L outputs the measured sole pressure to the pressure data transmission unit 130L.
The principle of measuring the sole pressure with the pressure-sensitive sensor 120L is the same as that of the pressure-sensitive sheet 140 described later, and thus the description thereof is omitted.

The pressure data transmission unit 130L receives the sole pressure from the pressure sensor 120L, and transmits the sole pressure to the arithmetic device 200 as pressure data. Here, the pressure data transmission unit 130L preferably performs wireless communication so as not to hinder the movement of the cameraman Cm. Moreover, since the pressure data measuring device 100 is a pair of the pressure data measuring devices 100L and 100R, the pressure data transmitting unit 130L preferably adds identification information indicating that the pressure data is left foot pressure data to the pressure data.
Note that the pressure data transmission unit 130L can be realized by a general network interface, and thus detailed description thereof is omitted.

[Configuration of arithmetic unit]
With reference to FIGS. 4 and 5, the configuration of the arithmetic device 200 of FIG. 1 will be described.
As shown in FIG. 4, the arithmetic device 200 includes a gyro sensor 210, an acceleration sensor 220, a storage unit 230 (FIG. 5), a pressure data receiving unit 240 (receiving unit, FIG. 5), a CPU (Central Processing Unit). ) 250.

  In the arithmetic device 200, the gyro sensor 210 and the acceleration sensor 220 are disposed on the upper stage of the substrate 290, and the CPU 250 is disposed on the lower stage of the substrate 290. Further, the arithmetic device 200 is formed with a circuit (not shown) so that signals can be input and output between the gyro sensor 210 and the acceleration sensor 220 and the CPU 250. Then, the arithmetic device 200 stores the substrate 290 on which each of the above-described means is arranged in a box-shaped housing 291. Furthermore, the arithmetic device 200 includes an antenna 292 that protrudes from the top of the housing 291.

As shown in FIG. 5, the gyro sensor 210 includes a pan direction gyro sensor 211, a tilt direction gyro sensor 213, and a yaw direction gyro sensor 215.
The pan direction gyro sensor 211 measures the angular velocity in the pan direction of the arithmetic device 200 and the photographing camera 900 to which the arithmetic device 200 is attached.
The tilt direction gyro sensor 213 measures the angular velocity in the tilt direction of the arithmetic device 200 and the photographing camera 900.
The yaw direction gyro sensor 215 measures the angular velocity in the yaw direction for the arithmetic device 200 and the photographing camera 900.
Then, the gyro sensor 210 outputs the measured angular velocities in the pan direction, the tilt direction, and the yaw direction to the CPU 250 as speed data.

The acceleration sensor 220 includes a lateral acceleration sensor 221, a vertical acceleration sensor 223, and a longitudinal acceleration sensor 225.
The left-right direction acceleration sensor 221 measures the acceleration in the left-right direction (x-axis direction) of the arithmetic device 200 and the photographing camera 900 to which the arithmetic device 200 is attached.
The vertical acceleration sensor 223 measures the vertical acceleration (y-axis direction) of the arithmetic device 200 and the photographing camera 900.
The front-rear direction acceleration sensor 225 measures acceleration in the front-rear direction (z-axis direction) for the arithmetic device 200 and the photographing camera 900.
Then, the acceleration sensor 220 outputs the measured acceleration in the left-right direction, the up-down direction, and the front-rear direction to the CPU 250 as acceleration data.

  The gyro sensor 210 and the acceleration sensor 220 can use general MEMS (Micro Electro Mechanical Systems) inertial sensors, and thus detailed description thereof is omitted. This MEMS inertial sensor can be integrated in a compact manner and contributes to downsizing of the arithmetic device 200.

The storage unit 230 is a storage device such as a memory or a hard disk that stores a correspondence table and an error table.
This correspondence table indicates in advance the moving speed of the photographing camera 900 (hereinafter referred to as “camera speed”) held by the moving cameraman Cm and the speed of the maximum load region obtained from the pressures of the soles of the left and right feet of the cameraman Cm. It is a correspondence.
This error table correlates in advance the load balance between both legs (hereinafter referred to as “front and rear legs”) opened before and after the cameraman Cm and the positional deviation amount of the photographing camera 900 held by the cameraman Cm.

<Maximum load area>
With reference to FIGS. 6 to 11, after describing the maximum load area as a premise of the correspondence table, a setting method of the correspondence table and the error table will be described in order (see FIG. 5 as appropriate).

  As shown in FIG. 6, consider a state in which the cameraman Cm puts the photographing camera 900 on his shoulder and moves forward. In addition, the photographing camera 900 moves in the same direction as the cameraman Cm, and the movement direction of the photographing camera 900 and the cameraman Cm is indicated by a symbol D. In this case, as shown in FIG. 7, the position of the maximum load region A changes with time on the toe Eg of the cameraman Cm as the cameraman Cm moves.

In FIG. 7, the entire sole Ft of the photographer Cm is illustrated by a dotted line, and the toe Eg of the entire sole Ft is illustrated by a broken line.
In FIG. 7, the load distribution of the toe Eg due to the movement of the cameraman Cm is shown by a solid line. This load distribution appears, for example, as a circle or an ellipse. And the maximum load area | region A is an area | region where this load distribution becomes the maximum, and it illustrated by hatching in FIG.
In addition, in order to make a drawing legible, illustration of the moving direction D and the sole sole Ft was abbreviate | omitted in FIG.7 (b)-(d).

  More specifically, as shown in FIG. 7A, immediately after the photographer Cm steps on one foot (time T1), the maximum load region A is located behind the toe Eg. Next, when the photographer Cm steps on one foot (time T2), the position of the maximum load region A is in the same direction as the moving direction D as shown in FIG. Move forward.

  When the photographer Cm further depresses one foot (time T3), the maximum load region A moves to the front of the toe Eg from time T2, as shown in FIG. 7 (c), and is approximately at the center of the toe Eg. Will be located. Further, immediately before the photographer Cm steps on the opposite foot (time T4), as shown in FIG. 7D, the maximum load area A moves to the front of the toe Eg from time T3, and the tip of the toe Eg. You will be closer to the side.

With reference to FIG. 8, the case where the cameraman Cm moves to the left front will also be described.
First, immediately after the photographer Cm steps one foot (time T1), as shown in FIG. 8A, the maximum load region A is located behind the toe Eg. Next, when the photographer Cm steps on one foot (time T2, T3), the position of the maximum load area A moves to the left front of the toe Eg, as shown in FIGS. 8B and 8C. Further, immediately before the photographer Cm steps on the opposite foot (time T4), as shown in FIG. 8D, the maximum load area A moves to the left front of the toe Eg from time T3, and the tip of the toe Eg. Approach the left side.

  Therefore, as shown in FIGS. 7 and 8, the direction of the maximum load region A is the same as the moving direction D. Further, since the position of the maximum load area A changes with time between times T1 and T4, the speed of the maximum load area A can be obtained from this change with time.

  Here, the moving speed of the cameraman Cm increases as the speed of the maximum load area A increases, and the moving speed of the cameraman Cm decreases as the speed of the maximum load area A decreases. Thus, there is a high correlation between the moving speed of the cameraman Cm and the speed of the maximum load area A. Furthermore, since the photographing camera 900 moves with the cameraman Cm, the moving speed and the moving direction are the same as those of the cameraman Cm. Therefore, it can be said that there is a high correlation between the camera speed and the speed of the maximum load region A.

It should be noted that the maximum load vectors V1 to V4 (V) are the vector representations of the directions and speeds of the maximum load regions A1 to A4 (A) at the times T1 to T4. That is, the direction of the maximum load vector V indicates the direction of the maximum load region A, and the size thereof indicates the speed of the maximum load region A.
Further, when the photographer Cm changes his / her foot, the maximum load area A may appear at the same time on both the left and right feet. However, since the time is extremely short, it may be ignored.

<How to set the correspondence table: calibration>
Next, a method for setting the correspondence table by calibration will be specifically described.
Calibration refers to associating the camera speed with the speed of the maximum load area A.

  As shown in FIG. 6, the cameraman Cm puts on the pressure data measuring device 100 so that the sole pressure can be measured, and places the photographing camera 900 on the shoulder. At this time, in order to measure the position change of the photographing camera 900, for example, a position change measuring device (not shown) such as a laser range finder or a three-dimensional position measuring sensor is disposed behind the photographing camera 900.

  Moreover, in this embodiment, since the pressure data measuring device 100 is footwear-like, the absolute position (absolute coordinate) of the cameraman Cm cannot be measured. For this reason, the calibration starts with the cameraman Cm positioned at a preset calibration origin.

  First, the cameraman Cm moves in various directions, front and rear, right and left, assuming low-speed camera work. At this time, while measuring the sole pressure of the cameraman Cm with the pressure data measuring device 100, the position change of the photographing camera 900 is measured with the position change measuring device. Then, the speed of the maximum load area A is obtained from the sole pressure, and the camera speed is obtained from the position change of the photographing camera 900.

  Here, the correlation between the speed of the maximum load region A and the camera speed is, for example, a Gaussian distribution as shown in FIG. In FIG. 9, the Gaussian distribution with a low-speed camera work is shown by a broken line, the Gaussian distribution with a normal camera work is shown by a solid line, and the Gaussian distribution with a high-speed camera work is shown by a one-dot chain line.

  The calibration method is not particularly limited. In the present embodiment, a Gaussian distribution peak is used. In the case of a low-speed camera work, Va1 at which the speed of the maximum load region A peaks is associated with the camera speed Vb1 at this time (broken line in FIG. 9). In the case of normal camera work, the maximum load region speed Va2 and the camera speed Vb2 are associated with each other (solid line in FIG. 9). Furthermore, in the case of high-speed camera work, the maximum load region speed Va3 and the camera speed Vb3 are associated with each other (the dashed line in FIG. 9). In this way, calibration is repeatedly performed assuming camerawork at various speeds such as low speed, normal speed, and high speed.

Here, when the data indicating the correlation is insufficient after calibration, it is preferable to compensate for the insufficient data in the correspondence table by interpolation processing such as interpolation.
In addition, the maximum load area A may be changed to various shapes without maintaining a constant shape as illustrated in FIG. 7 due to, for example, individual differences of the photographer Cm or measurement accuracy of the pressure data measuring device 100. There is also. In this case, the center of gravity position of the maximum load area A may be obtained, and the speed of the center of gravity position of the maximum load area A may be associated with the camera speed.

<Error table setting method>
As shown in FIG. 10, when the load balance between the front and rear legs of the cameraman Cm is imbalanced, the position of the photographing camera 900 placed on the shoulder often has an error (positional deviation) in the front and rear. And if the load balance becomes unbalanced before and after, the position of the photographing camera 900 changes with regularity before and after. Accordingly, while the cameraman Cm changes the load balance back and forth, the position shift amount of the photographing camera 900 with respect to the reference position is measured by the position change measuring device.
Note that the position of the photographing camera 900 in a state where the load balance between the front and rear is balanced is set as a reference position.

As shown in FIG. 11A, the load balance is 100% for the foot pressure on the front foot and 0% for the foot foot on the rear foot when the full load is applied to the front foot of the photographer Cm. Further, the load balance is such that the foot pressure of both front and rear feet is 50% in a state where the load on both front and rear feet of the photographer Cm is balanced. Furthermore, the load balance is 100% for the foot pressure on the rear foot and 0% for the foot foot on the front foot when the full load is applied to the rear foot of the photographer Cm. That is, as shown in FIG. 11 (a), the sum of the sole pressures of both hind legs is 100%.
In FIG. 11A, the vertical axis represents the foot pressure of the front foot, and the horizontal axis represents the foot pressure of the rear foot.

At this time, as shown in FIG. 11B, when the photographing camera 900 is in a state in which a full load is applied to the forefoot of the photographer Cm, the amount of forward displacement becomes large. In addition, the photographing camera 900 is at the reference position when the load on both front and rear legs of the photographer Cm is in a balanced state, so there is no positional deviation. When the photographing camera 900 is in a state in which a full load is applied to the rear legs of the photographer Cm, the amount of positional displacement to the rear increases. That is, as shown in FIG. 11B, the error table associates the load balance with the positional deviation amount.
In FIG. 11 (b), the vertical axis represents the amount of displacement, and the horizontal axis corresponds to the load balance in FIG. 11 (a).

Returning to FIG. 5, the description of the configuration of the arithmetic device 200 will be continued.
The pressure data receiving unit 240 receives the sole pressure of both left and right feet as pressure data from each of the pressure data measuring devices 100L and 100R. Then, the pressure data receiving unit 240 outputs the received pressure data of both the left and right feet to the CPU 250. Since the pressure data receiving unit 240 can be realized by a general network interface, detailed description thereof is omitted.

  The CPU 250 performs various calculations in the calculation device 200, and includes a maximum load vector generation unit 251, a camera speed calculation unit (movement speed calculation unit) 252, a camera direction calculation unit (movement direction calculation unit) 253, A camera position calculation unit (measurement target position calculation unit) 254, a load balance calculation unit 255, a camera position correction unit (position data correction unit) 256, and an attitude data calculation unit 257 are provided. Here, the CPU 250 receives velocity data from the gyro sensor 210, acceleration data from the acceleration sensor 220, and pressure data for both left and right feet from the pressure data receiving unit 240.

The maximum load vector generation unit 251 obtains the maximum load region A in which the pressure data (foot pressure) of both the left and right feet is maximum, and the maximum load indicating the direction and speed of the maximum load region A by the time change of the maximum load region A. A vector V is generated.
The camera speed calculation unit 252 refers to the correspondence table stored in the storage unit 230 and calculates the camera speed from the speed of the maximum load area A represented by the magnitude of the maximum load vector V.

The camera direction calculation unit 253 calculates the direction of the maximum load vector V (the direction of the maximum load region A) as the moving direction of the photographing camera 900 (hereinafter “camera direction”).
The camera position calculation unit 254 calculates position data indicating the position of the photographing camera 900 based on the camera speed calculated by the camera speed calculation unit 252 and the camera direction calculated by the camera direction calculation unit 253. is there.

<Calculation of position data>
With reference to FIG. 7, the processing from when the maximum load vector generation unit 251 generates the maximum load vector V1 to when the camera position calculation unit 254 calculates position data will be specifically described (see FIG. 5 as appropriate). .

  As shown in FIG. 7A, the maximum load vector generation unit 251 determines the maximum load vector V1 at time T1 due to the time change of the maximum load area A1 from time T0 to time T1 before the photographer Cm steps on one foot. Ask for. In addition, the camera speed calculation unit 252 refers to the correspondence table and calculates the camera speed at time T1 from the speed of the maximum load area A1 represented by the magnitude of the maximum load vector V1. In other words, the camera speed calculation unit 252 reads the camera speed corresponding to the speed of the maximum load area A1 from the correspondence table. Then, the camera direction calculation unit 253 calculates the direction of the maximum load vector V1 (the direction of the maximum load region A1) as the camera direction at time T1.

As shown in FIG. 7B, the maximum load vector generation unit 251 obtains the maximum load vector V2 at time T2 from the time change of the maximum load region A2 from time T1 to time T2. Further, the camera speed calculation unit 252 calculates the camera speed at time T2 from the magnitude of the maximum load vector V2 with reference to the correspondence table. Then, the camera direction calculation unit 253 calculates the direction of the maximum load vector V2 as the camera direction at time T2.
Note that the processing for calculating the camera speed and the camera direction at times T3 and T4 is the same as that at times T1 and T2, and a description thereof will be omitted.

  Thereafter, the camera position calculation unit 254 integrates the camera speed from the time T1 to the time T4 to obtain the moving distance of the photographing camera 900 from the time T1 to the time T4. Furthermore, since the camera directions from time T1 to time T4 are all the same direction, the camera position calculation unit 254 calculates a position that is separated by the moving distance of the photographing camera 900 in the camera direction as position data at time T4.

  Here, as described above, the maximum load region A may change into various shapes without maintaining a constant shape as shown in FIG. In this case, the maximum load vector generation unit 251 may obtain the center of gravity position of the maximum load region A, and may obtain the maximum load vector V by the time change of the center of gravity position of the maximum load region A.

Although the example in which the position data is calculated at the calculation interval from time T1 to time T4 has been described, the camera position calculation unit 254 can arbitrarily set this calculation interval.
Moreover, in this embodiment, since the pressure data measuring device 100 is footwear-like, the absolute position (absolute coordinate) of the cameraman Cm cannot be measured. For this reason, the camera data measuring apparatus 1 starts calculating position data in a state where the cameraman Cm is positioned at the calibration origin. And the camera data measuring device 1 calculates the position data which shows the relative position of the imaging | photography camera 900 for every calculation interval.

Returning to FIG. 5, the description of the configuration of the arithmetic device 200 will be continued.
As described above, the pressure data is added with identification information indicating which foot is left or right. In addition, the cameraman Cm decides whether to step on the left or right foot first with both feet aligned, and then steps on the left and right foot alternately. Therefore, the load balance calculation unit 255 sets in advance information on the foot that the cameraman Cm first steps, and determines that the left and right feet are stepped when the maximum value of the left and right foot pressure is reversed. As a result, the load balance calculation unit 255 can identify whether the received pressure data corresponds to the front foot or the rear foot, and calculate the load balance of the front and rear feet by the ratio of the sole pressures of the left and right feet. it can.

  The camera position correction unit 256 refers to the error table stored in the storage unit 230 (FIG. 11), and the position of the position data calculated by the camera position calculation unit 254 from the load balance calculated by the load balance calculation unit 255. The amount of deviation is calculated and corrected. In other words, the camera position correction unit 256 reads the amount of positional deviation corresponding to the load balance from the error table. Then, the camera position correction unit 256 corrects the position data so that the position of the photographing camera 900 is moved forward or backward by this positional deviation amount.

The attitude data calculation unit 257 calculates attitude data indicating the orientation of the photographing camera 900 from the speed data from the gyro sensor 210 and the acceleration data from the acceleration sensor 220. Here, it can be understood from which direction the photographing camera 900 has moved by the acceleration data. Therefore, for example, the posture data calculation unit 257 performs integration processing by correcting the acceleration data from the acceleration sensor 220 for the amount of crosstalk that is synergistic with the velocity data from the gyro sensor 210. In this manner, the attitude data calculation unit 257 calculates the attitude data (P _θ , P _φ , P _Ψ ) of the photographing camera 900 for the pan direction, the tilt direction, and the yaw direction.

Thereafter, the CPU 250 outputs the position data corrected by the camera position correction unit 256 and the posture data calculated by the posture data calculation unit 257 as camera data.
Note that the method for calculating the attitude data from the velocity data and the acceleration data is a general process that depends on the implementation of the MEMS inertial sensor, and thus detailed description thereof is omitted.

[Operation of foot-like pressure sensor]
The operation of the pressure data measuring device 100 in FIG. 3 will be described with reference to FIG. 12 (see FIG. 3 as appropriate).
The pressure data measuring device 100 measures the sole pressure (pressure data) of the photographer Cm by the pressure sensor 120 (step S1).
The pressure data measuring device 100 transmits the pressure data measured by the pressure sensor 120 to the arithmetic device 200 by the pressure data transmitting unit 130 (step S2).

[Operation of arithmetic unit]
With reference to FIG. 13, the operation of the arithmetic unit 200 of FIG. 5 will be described (see FIG. 3 as appropriate).
The arithmetic device 200 stores the correspondence table set by calibration and the error table in the storage unit 230 in advance (step S11).

The arithmetic device 200 measures speed data by the gyro sensor 210 (step S12).
The arithmetic unit 200 measures acceleration data with the acceleration sensor 220 (step S13).
The computing device 200 calculates posture data from the velocity data and acceleration data by the posture data calculation unit 257 (step S14).

The computing device 200 receives the pressure data of the left and right feet by the pressure data receiving unit 240 (step S15).
The computing device 200 uses the maximum load vector generation unit 251 to obtain a maximum load region where the pressure data is maximum, and generates a maximum load vector indicating the direction and speed of the maximum load region based on the time change of the maximum load region A ( Step S16).

The computing device 200 calculates the camera speed from the speed of the maximum load area A represented by the magnitude of the maximum load vector V by using the camera speed calculation unit 252 with reference to the correspondence table (step S17).
The computing device 200 uses the camera direction calculation unit 253 to calculate the direction of the maximum load vector as the camera direction (step S18).
In the arithmetic device 200, the camera position calculation unit 254 calculates position data based on the camera speed and the camera direction (step S19).

The arithmetic device 200 calculates the load balance from the ratio of the pressure data of the left and right feet by the load balance calculation unit 255 (step S20).
In the arithmetic device 200, the camera position correction unit 256 refers to the error table, calculates the positional deviation amount of the photographing camera 900 from the load balance, and corrects the position data with this positional deviation amount (step S21).
Thereafter, the arithmetic device 200 causes the CPU 250 to output position data and posture data of the photographing camera 900 as camera data.

  As described above, since the camera data measuring device 1 according to the first embodiment of the present invention can accurately calculate the camera speed using the speed of the maximum load region having a high correlation with the camera speed, the camera data is high. It can be measured with accuracy. Furthermore, since the foot pressure measuring device 100 is in a footwear shape, the camera data measuring device 1 can reduce the size of the foot pressure measuring device 100 and is more excellent in mobility.

  Moreover, since the foot pressure measuring device 100 moves with the cameraman Cm, the camera data measuring device 1 can extremely widen the measurement range of the camera data including a non-flat place. Furthermore, since the camera data measuring device 1 corrects the positional deviation of the photographing camera 900 placed on the shoulder of the cameraman Cm even when the load balance of the cameraman Cm is lost, it is possible to measure the camera data with higher accuracy. it can.

  Using this camera data, video processing such as combining CG and other videos with the shot video and adding video effects following part of the shot video becomes possible, expanding the range of video expression. can do. Thus, the user of the camera data measuring device 1 can easily produce a large spectacle video such as a movie as a television program, and can provide a powerful and easy-to-understand video to the viewer.

  In addition, from the viewpoint of personal information protection, there are increasing opportunities to perform video processing processing that makes it difficult to discriminate a person or the like by blurring a part of the video in a news program or the like. In such a case, the user of the camera data measuring device 1 can efficiently perform the video processing process.

  In the first embodiment, the pressure data measuring device 100 and the arithmetic device 200 are made independent in order to measure the posture data of the photographing camera 900, but the present invention is not limited to this. For example, when this posture data is not measured, the pressure data measuring device 100 may incorporate the arithmetic device 200.

  In the first embodiment, the photographing camera 900 has been described as a measurement target, but the present invention is not limited to this. That is, in the present invention, any object may be set as a measurement target as long as a person can hold it.

(Modification 1)
Returning to FIG. 5, a modified example of the camera data measuring device 1 according to the first embodiment of the present invention will be described.
The correlation between the camera speed and the speed of the maximum load region, and the correlation between the load balance between the front and rear legs and the positional deviation amount of the photographing camera 900, greatly shows individual differences for each cameraman Cm.
Therefore, the storage unit 230 stores in advance a correspondence table and an error table corresponding to each cameraman Cm. Then, the camera data measuring device 1 performs an authentication process for the cameraman Cm, and measures camera data using a correspondence table and an error table corresponding to the authenticated cameraman Cm.

  As described above, since the camera data measuring device 1 according to the first modification of the present invention reflects the individual differences in the correlation described above in the camera data, the camera data can be measured with higher accuracy.

(Second Embodiment)
[Configuration of position sensor]
With reference to FIGS. 14 to 16, the camera data measurement apparatus 1 </ b> B according to the second embodiment of the present invention will be described while referring to differences from the first embodiment.
The camera data measuring device 1B is different from the first embodiment in that it includes a sheet-like pressure data measuring device 100B instead of the footwear-like pressure data measuring device 100 (FIG. 2).

  As shown in FIG. 14, a pressure-sensitive sheet 140 is laid on the feet of the photographer Cm. The pressure-sensitive sheet 140 covers at least the movement range of the cameraman Cm, and can be formed in an arbitrary shape such as a rectangle, a square, a circle, and an ellipse, for example. Further, the signal cable 140a connects the pressure-sensitive sheet 140 and the pressure data transmission unit 130 in order to output the measured sole pressure.

  Here, as shown in FIG. 15A, the pressure-sensitive sheet 140 has a sandwich structure in which an intermediate layer 143 made of conductive rubber is sandwiched between a surface layer 141 made of a conductive material and a back layer 145 made of a resistive material. It has become. Further, as shown in FIG. 15B, the pressure-sensitive sheet 140 can measure a change in resistance value in a vertical and horizontal mesh shape as viewed from the surface layer 141. That is, when the pressure is applied to the surface layer 141 by the toe Eg of the cameraman Cm, the resistance value of the pressure-sensitive sheet 140 changes according to the size and area. By using this, the pressure-sensitive sheet 140 measures the position (absolute coordinates) where the sole pressure is applied and the magnitude of the sole pressure. Thereafter, as shown in FIG. 16, the pressure-sensitive sheet 140 outputs the position and magnitude of the measured sole pressure as pressure data to the pressure data transmission unit 130.

  Here, the maximum load region A is one mesh (one point) when the sole pressure measured by the pressure-sensitive sheet 140 is maximum at one mesh in FIG. In addition, the maximum load region A is a region where all the meshes are combined when the sole pressure measured by the pressure-sensitive sheet 140 is the maximum among a plurality of meshes in FIG.

  As described above, since the camera data measuring device 1B according to the second embodiment of the present invention uses the general pressure-sensitive sheet 140, the camera data measuring device 1B has a simple configuration and can reduce the cost. Furthermore, since the camera data measuring device 1B measures the sole pressure in the absolute coordinate system, the camera data can be expressed in the absolute coordinate system.

In the second embodiment, since the pressure-sensitive sheet 140 measures the sole pressure in the absolute coordinate system, the calibration and the measurement of the position data may not be started with the cameraman Cm positioned at the calibration origin. .
In the second embodiment, since the sole pressure is measured in an absolute coordinate system, the load balance calculation unit 255 (FIG. 5) uses the absolute coordinates to convert the pressure data of both the left and right feet to the front foot or the rear foot. You may identify whether it corresponds.

(Third embodiment)
[Configuration of camera data measurement device]
With reference to FIG. 17, the difference of the configuration of the camera data measurement device 1 </ b> C according to the third embodiment of the present invention from the second embodiment will be described.

  The camera data is mainly used for synthesizing captured images. For this reason, camera data is required for each frame image constituting the captured video. On the other hand, the pressure data measuring device 100B, the gyro sensor 210, and the acceleration sensor 220 are not conscious of the composition of the captured image, and the measurement timing of the pressure data, the velocity data, and the acceleration data is not synchronized with each frame image. There are many cases. Therefore, the camera data measuring device 1C measures the camera data for each synchronization signal (vertical synchronization signal) of the captured image in order to reliably perform the image processing.

Specifically, the camera data measuring apparatus 1C receives a synchronization signal from the photographing camera 900 as shown in FIG. Then, the CPU 250C samples the pressure data from the pressure data measuring device 100B, the speed data from the gyro sensor 210, and the acceleration data from the acceleration sensor 220 at the timing when the synchronization signal is input. The CPU 250C measures camera data for each synchronization signal using the sampled pressure data, velocity data, and acceleration data.
Except for using the synchronization signal, each unit of the camera data measuring apparatus 1C is the same as that shown in FIG.

  As described above, the camera data measuring apparatus 1C according to the third embodiment of the present invention can efficiently perform video processing because the measured camera data is synchronized with each frame image.

  In the third embodiment, the example in which camera data is measured for each synchronization signal has been described. However, the present invention is not limited to this. For example, the camera data measurement device 1C sets the measurement frequency of the pressure data measurement device 100B, the gyro sensor 210, and the acceleration sensor 220 to a frequency sufficiently faster than the synchronization signal of the captured video. Then, the camera data measuring device 1C may measure camera data at this measurement frequency and output camera data that matches the shooting time of each frame image or camera data that is closest to the shooting time.

(Fourth embodiment)
[Configuration of camera data measurement device]
With reference to FIGS. 18 and 19, the difference of the configuration of the camera data measurement device 1 </ b> D according to the fourth embodiment of the present invention from the first embodiment will be described.
The camera data measuring device 1D is greatly different from the second embodiment in that the camera field of view of the camera 900 is calculated and added to the camera data.

  As shown in FIG. 18, the photographing camera 900 includes a zoom lens 910 that can change a photographing angle of view by rotating a rotating ring 920. In the photographing camera 900, an encoder 270 is attached to a rotating ring 920.

  The encoder 270 measures the amount of ring rotation of the rotating ring 920. The encoder 270 is connected to the measurement unit 260 via the cable 272, and outputs the measured ring rotation amount to the measurement unit 260 (CPU 250D in FIG. 19).

  As illustrated in FIG. 19, the arithmetic device 200 </ b> D includes a storage unit 230 </ b> B instead of the storage unit 230 in the arithmetic device 200 of FIG. 5, and an angle of view calculation unit 258 and an encoder 270 are added.

The storage unit 230B further stores a shooting angle of view table.
This shooting field angle table associates the ring rotation amount with the shooting field angle of the shooting camera 900 in advance.

  The CPU 250D includes a maximum load vector generation unit 251, a camera speed calculation unit 252, a camera direction calculation unit 253, a camera position calculation unit 254, a load balance calculation unit 255, a camera position correction unit 256, and an attitude data calculation unit. 257 and an angle of view calculation unit 258. Here, the CPU 250 </ b> D receives the ring rotation amount from the encoder 270 in addition to the speed data, the acceleration data, and the pressure data.

  The angle-of-view calculating unit 258 refers to the shooting angle-of-view table stored in the storage unit 230B and calculates the shooting angle of view of the shooting camera 900 from the amount of ring rotation input to the CPU 250D. In other words, the angle-of-view calculation unit 258 reads out the shooting angle of view of the shooting camera 900 associated with the input ring rotation amount from the shooting angle-of-view table.

Thereafter, the CPU 250D adds the shooting angle of view calculated by the angle of view calculation unit 258 to the camera data and outputs the camera data.
As described above, the camera data measuring apparatus 1D according to the fourth embodiment of the present invention can measure the shooting angle of view as camera data in addition to the position data and the attitude data.

  In the fourth embodiment, when it is desired to further increase the accuracy of the camera data, an encoder may be attached to the focus ring of the photographing camera 900 to reflect the change in the angle of view depending on the focal position.

  In the fourth embodiment, an example in which the angle of view calculation unit 258 calculates the shooting angle of view has been described, but the present invention is not limited to this. For example, in the case of a photographing camera in which an encoder for detecting an angle of view is incorporated in a zoom lens, the present invention can also obtain the angle of view of the photographing camera as a digital data via a zoom lens connector.

  In the third and fourth embodiments, the application example to the camera data measurement device 1B according to the second embodiment has been described, but the present invention is not limited to this. That is, the methods of the third and fourth embodiments can also be applied to the camera data measuring apparatus 1 according to the first embodiment.

  INDUSTRIAL APPLICABILITY The present invention can be used for the production of a movie such as a VFX movie, a program such as a drama program that requires high-level synthesis, an information program, and a news program that requires quick post-production processing.

1,1B, 1C, 1D Camera data measuring device (position measuring device)
100, 100B, 100L, 100R Pressure data measuring device (foot pressure measuring means)
110L, 110R Shoes 120, 120L, 120R Pressure sensitive sensors 130, 130L, 130R Pressure data transmission unit (transmission unit)
140 Pressure Sensitive Sheet 140a Signal Cable 141 Surface Layer 143 Intermediate Layer 145 Back Surface Layer 200, 200C, 200D Arithmetic Unit (Position Data Calculation Unit)
210 Gyro sensor 211 Pan direction gyro sensor 213 Tilt direction gyro sensor 215 Yaw direction gyro sensor 220 Acceleration sensor 221 Left / right direction acceleration sensor 223 Vertical direction acceleration sensor 225 Front / rear direction acceleration sensor 230 Storage unit 240 Pressure data reception unit (reception unit)
250, 250C, 250D CPU
251 Maximum load vector generation unit 252 Camera speed calculation unit (movement speed calculation unit)
253 Camera direction calculation unit (movement direction calculation unit)
254 Camera position calculation unit (measurement target position calculation unit)
255 Load balance calculation unit 256 Camera position correction unit (position data correction unit)
257 Attitude data calculation unit 258 Angle of view calculation unit 260 Measurement unit 270 Encoder 290 Substrate 291 Case 292 Antenna 900 Shooting camera (measurement target)
910 Zoom lens 920 Rotating ring Sys Camera data measurement system (position measurement system)

Claims (9)

Footwear-like or sheet-like sole pressure measuring means for measuring the sole pressure of the moving person, and the position of the measurement object held by the moving person based on the maximum load area where the sole pressure becomes maximum A position measurement device comprising: position data calculation means for calculating data,
The position data calculation means includes
A storage unit for storing a correspondence table in which the moving speed of the measurement target held by the moving person and the speed of the maximum load area obtained from the foot pressure of both feet of the person are associated in advance;
The maximum load that obtains the maximum load region where the sole pressure measured by the sole pressure measuring means is maximum, and generates the maximum load vector indicating the direction and speed of the maximum load region by the time change of the maximum load region. A vector generator;
With reference to the correspondence table stored in the storage unit, a moving speed calculation unit that calculates the moving speed of the measurement target from the speed of the maximum load region represented by the size of the maximum load vector;
A moving direction calculation unit that calculates the direction of the maximum load vector as the moving direction of the measurement target;
A measurement target position calculation unit that calculates position data of the measurement target based on the movement speed of the measurement target calculated by the movement speed calculation unit and the movement direction of the measurement target;
A position measuring device comprising: The position data calculation means includes
The storage unit further stores an error table in which a load balance between both legs of a person and a positional deviation amount of the measurement target held by the person are associated in advance.
A load balance calculation unit that calculates the load balance according to a ratio of the sole pressures of both feet measured by the sole pressure measuring means;
With reference to the error table stored in the storage unit, the positional deviation amount of the measurement target is calculated from the load balance calculated by the load balance calculation unit, and the measurement target position calculation unit calculates the positional deviation amount based on the calculated positional deviation amount. A position data correction unit for correcting the calculated position data;
The position measuring device according to claim 1, further comprising: The foot pressure measuring means is
A pressure-sensitive sensor that is mounted on the shoe or the sole of the person's footwear and measures the pressure of the sole of the person;
A transmitter that transmits the sole pressure measured by the pressure sensor to the position data calculating means;
The position measuring device according to claim 1, further comprising: The foot pressure measuring means is
A pressure sensitive sheet for measuring the pressure of the sole of the person,
A transmission unit that transmits the sole pressure measured by the pressure-sensitive sheet to the position data calculation unit;
The position measuring device according to claim 1, further comprising: The storage unit stores the correspondence table and the error table for each person,
The moving speed calculation unit refers to the correspondence table for each person, calculates the moving speed of the measurement target,
The position measurement according to any one of claims 2 to 4, wherein the position data correction unit corrects a positional deviation amount of the position data with reference to an error table for each person. apparatus. The position data calculation means includes
An acceleration sensor that measures acceleration in a three-dimensional direction of the measurement target;
A gyro sensor for measuring angular velocity in the pan direction, tilt direction and yaw direction of the measurement object;
An attitude data calculation unit that calculates attitude data indicating the orientation of the measurement target from the angular velocity measured by the gyro sensor and the acceleration measured by the acceleration sensor;
The position measuring device according to any one of claims 1 to 5, further comprising: The position data calculation means is attached to a photographing camera as the measurement target,
7. The measurement target position calculation unit receives a synchronization signal of a captured image captured by the imaging camera, and calculates the measurement target position data in synchronization with the input synchronization signal. The position measuring device described in 1. The position data calculation means includes
The storage unit further stores a shooting angle of view table in which a ring rotation amount of a zoom lens included in the shooting camera and an angle of view of the shooting camera are associated in advance;
An encoder for measuring the amount of ring rotation;
An angle-of-view calculation unit that calculates an angle of view of the shooting camera from a ring rotation amount measured by the encoder with reference to a shooting angle-of-view table stored in the storage unit;
The position measuring device according to claim 7, comprising: The position measuring device according to any one of claims 1 to 8,
A photographing camera as the measurement object;
A position measurement system comprising:

Images