CN108534757A - A kind of vision map scale detection method and device based on high in the clouds - Google Patents
A kind of vision map scale detection method and device based on high in the clouds Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
- G01C11/06—Interpretation of pictures by comparison of two or more pictures of the same area
- G01C11/08—Interpretation of pictures by comparison of two or more pictures of the same area the pictures not being supported in the same relative position as when they were taken
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C22/00—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
Abstract
A kind of vision map scale detection method based on high in the clouds is provided in the embodiment of the present invention, is related to vision guided navigation field.The method includes：Picture signal is obtained, according to the mobile location information of each frame in each step of described image signal acquisition；Acceleration signal is obtained, the step information of each step is obtained according to the acceleration signal；The engineer's scale information corresponding to vision map is established according to needed for the mobile location information and step information acquisition.The present invention also provides vision map scale detection device, electronic equipment and the computer program products accordingly based on high in the clouds.The present invention is while traditional acquisition picture signal, the step information of each step is obtained in conjunction with acceleration signal, the error for building the appearance of figure process medium scale to vision by the way that the scheme for being capable of providing dimensional information is added is corrected, to provide more particularly suitable accurate engineer's scale information.The present invention can provide accurate mapping information for vision guided navigation and positioning.
Description
Technical field
The present invention relates to vision guided navigation field more particularly to a kind of vision map scale detection method based on high in the clouds and
Device.
Background technology
Camera can have juxtaposition phenomenon between two continuous frames during the motion, i.e. two frames can observe three-dimensional simultaneously
Common certain scenes and characteristic point in the world.And these scene characteristic points can project on 2D pictures, pass through picture
Alignment or the matching of feature, can find the correspondence of feature or patch on front and back picture.It is several using the imaging of camera
What module (including camera parameter) and constraint can find out the movable information (spin matrix R and translation t) between two frames.This
Sample we can be obtained by a series of camera with respect to transformation matrices, so as to release the posture information of camera.
In monocular vision odometer, if only only knowing that object has moved a unit on the directions x/y, due to lacking
Weary dimensional information can not obtain its specific displacement distance, so the object of which movement estimated all has scale missing, pole
Big limits application range.
Invention content
The vision map scale detection method and device based on high in the clouds that an embodiment of the present invention provides a kind of, purpose exist
During solving current monocular camera progress vision and building figure, due to lacking dimensional information, it is susceptible to map scale calculating
The problem of mistake.
First aspect of the embodiment of the present invention provides a kind of vision map scale detection method based on high in the clouds, the side
Method includes：
Picture signal is obtained, according to the mobile location information of each frame in each step of described image signal acquisition；
Acceleration signal is obtained, the step information of each step is obtained according to the acceleration signal；
The engineer's scale corresponding to vision map is established according to needed for the mobile location information and step information acquisition
Information.
Second aspect of the embodiment of the present invention provides a kind of vision map scale detection device based on high in the clouds, the dress
Set including：Camera model, IMU modules, visual odometry module and processor；
Described image signal is sent to visual odometry module by the camera model for acquiring picture signal；
The acceleration signal is sent to processor by the IMU modules for acquiring acceleration signal；
The visual odometry module, the picture signal for receiving camera model transmission, and according to described image signal
Obtain the mobile location information of each frame in each step；
The processor is configured with the executable operational order of processor, to execute following operation：
The step information of each step is obtained according to the acceleration signal；
The engineer's scale corresponding to vision map is established according to needed for the mobile location information and step information acquisition
Information.
The third aspect of the embodiment of the present invention provides a kind of electronic equipment, and the electronic equipment includes：Display, storage
Device, one or more processors；And one or more modules, one or more of modules are stored in the memory
In, and be configured to be executed by one or more of processors, one or more of modules include for executing first party
The instruction of each step in vision map scale detection method based on high in the clouds described in face.
Fourth aspect of the embodiment of the present invention provides a kind of computer program product, and the computer program product includes depositing
The computer program on non-volatile computer readable storage medium storing program for executing is stored up, the computer program includes program instruction, works as institute
When stating program instruction and being computer-executed, the computer is made to execute the vision map ratio based on high in the clouds as described in relation to the first aspect
Each step in example ruler detection method.
The present invention obtains the step-length letter of each step in conjunction with acceleration signal while traditional acquisition picture signal
Breath, the error for building the appearance of figure process medium scale to vision by the way that the scheme for being capable of providing dimensional information is added are corrected, with
More particularly suitable accurate engineer's scale information is provided.Present invention can apply to indoor and outdoor visions to build figure process, for vision guided navigation and determine
Position provides accurate mapping information.
Description of the drawings
Attached drawing described herein is used to provide further understanding of the present invention, and constitutes the part of the present invention, this hair
Bright illustrative embodiments and their description are not constituted improper limitations of the present invention for explaining the present invention.In the accompanying drawings：
Fig. 1 is the vision map scale detection method flow chart based on high in the clouds described in the embodiment of the present invention；
Fig. 2 is to obtain required establish according to the mobile location information and the step information described in the embodiment of the present invention
The flow chart of engineer's scale information corresponding to vision map；
Fig. 3 is the vision map scale detection device schematic diagram based on high in the clouds described in the embodiment of the present invention；
Fig. 4 is the schematic diagram of the electronic equipment described in the embodiment of the present invention.
Specific implementation mode
In order to make technical solution in the embodiment of the present invention and advantage be more clearly understood, below in conjunction with attached drawing to the present invention
Exemplary embodiment be described in more detail, it is clear that described embodiment be only the present invention a part implement
Example, rather than the exhaustion of all embodiments.It should be noted that in the absence of conflict, embodiment and reality in the present invention
The feature applied in example can be combined with each other.
The embodiment of the present invention can be applied to indoor and outdoor vision and build figure process, and controlled map letter is provided for vision guided navigation and positioning
Breath.
Embodiment 1
As described in Figure 1, the present embodiment proposes a kind of vision map scale detection method based on high in the clouds, the method
Including：
S101 obtains picture signal, according to the mobile location information of each frame in each step of described image signal acquisition.
Specifically, the picture signal obtained in the present embodiment the method is the image acquired in existing monocular camera
Signal passes through the location information of each frame in each step of image signal acquisition.The location information can be obtained by visual odometry.
S102 obtains acceleration signal, the step information of each step is obtained according to the acceleration signal.
Specifically, the method described in the present embodiment, which is intended to introduce, is capable of providing the scheme of dimensional information to overcome current monocular
Camera builds in figure the problem for being susceptible to map scale and calculating mistake in vision.Therefore, the present embodiment the method provides
Step information is to obtain dimensional information.And the foundation for obtaining the step information then derives from acceleration signal.
The acceleration signal described in method described in the present embodiment derives from the inertia being arranged on mobile object and surveys
Measure module, i.e. IMU modules.IMU modules can carry out step-length and estimate by obtaining the acceleration information generated when mobile object movement
It calculates, to obtain dimensional information.
It is worth noting that the step S101 and step S102 in the present embodiment the method when carrying out signal acquisition simultaneously
There is no proper sequencings, can also synchronize execution.
S103 establishes the ratio corresponding to vision map according to needed for the mobile location information and step information acquisition
Example ruler information.
Method described in the present embodiment is according to 2 visual odometry output coordinate (x before and after often walkingi-1, yi-1)、 (xi, yi)
And step-length diCarry out the mapping of coordinate points.According to the corresponding engineer's scale of every step and odometer information, the normalization of engineer's scale is carried out,
To provide engineer's scale information to draw accurate map.
Specifically, as shown in Fig. 2, described regard according to foundation needed for the mobile location information and step information acquisition
Feel that the process of the engineer's scale information corresponding to map is：
S1031 obtains proportionality coefficient according to the mobile location information and the step information；
S1032 carries out re-projection to the mobile location information according to the proportionality coefficient and generates re-projection location information；
S1033 believes according to the engineer's scale established needed for re-projection positional information calculation acquisition corresponding to vision map
Breath.
Above-mentioned steps are described in detail below.
First, the physical size factor corresponding to each step is obtained, obtains suitable proportionality coefficient for Unitary coordinate
Processing.
For the i-th step, step-length di, odometer output is respectively (x before and after the stepi-1,yi-1)、(xi,yi)；It can then obtain
Corresponding physical size factor s during the stepi；
It can then obtain and build during figure, left and right dimension scale factor set S={ s1, s2s3…sn-1, sn}.Search set S
Maximum value is denoted as smax。
smax=max{s1, s2s3…sn-1, sn}
For the i-th step ratio physical size factor si, for maximum value smaxProportionality coefficient N be：
Secondly, since the 1st step, once each step visual output is remapped, i.e. re-projection, to realize that scale is returned
One changes.
For the i-th step, corresponding proportionality coefficient is Ni, and all outputs of visual odometry are { p ' during the step1,
p′2, p '3…p′k, then from p '1Start once to p '2, p '3…p′kCarry out re-projection.
Wherein, (x 'i-1, y 'i-1)、(x′i, y 'i) respectively represent adjacent two frames odometer output in a step；θ′iIt represents adjacent
The directional information of two frames；d′iRepresent adjacent two frames range information.
The re-projection of odometer output can be carried out according to adjacent two frame data distance, proportionality coefficient and deflection.
d″i=Ni*d′i
x″i=x "i-1+d″i*cosθ′i
y"i=y "i-1+d"i*sinθ′i
Wherein, d "iRepresent re-projection distance；, (x "i-1, y "i-1)、(x″i, y "i) to respectively represent adjacent two frames odometer defeated
Go out re-projection result.
Finally, vision map is drawn according to re-projection result, and obtains engineer's scale information.
Search re-projection odometer output P={ p "1, p "2…p″nMaxima and minima.
Wherein, (x "i, y "i) represent re-projection p "iCorresponding coordinate, x "min、x″max、y″min、y″maxIt is defeated to represent odometer
Go out all the points X-axis in re-projection P, Y-axis output maxima and minima.Map scale information is calculated according to image size.
x″dif=x "max-x″min
y″dif=y "max-y″min
Wherein, x "dif、y″difRe-projection coordinate is respectively represented in X-axis, the maximum distance of Y-axis；Behalf map scale；w
Represent the vision map size for needing to create.
To sum up, the present embodiment the method can restore scale by the IMU modules of addition offer size, there is dimensional information
Odometry can apply on robot navigation and its control, meanwhile, the above method can be beyond the clouds during specific implementation
Upper progress can improve the efficiency of above method realization.
Embodiment 2
As shown in figure 3, the present embodiment proposes a kind of vision map scale detection device based on high in the clouds, described device
Including：Camera model, IMU modules, visual odometry module and processor；
Described image signal is sent to visual odometry module by the camera model for acquiring picture signal；
The acceleration signal is sent to processor by the IMU modules for acquiring acceleration signal；
The visual odometry module, the picture signal for receiving camera model transmission, and according to described image signal
Obtain the mobile location information of each frame in each step；
The processor is configured with the executable operational order of processor, to execute following operation：
The step information of each step is obtained according to the acceleration signal；
The engineer's scale corresponding to vision map is established according to needed for the mobile location information and step information acquisition
Information.
Specifically, the camera model described in the present embodiment described device can be monocular camera, acquired by monocular camera
Picture signal, visual odometry module to picture signal by carrying out the location information that parsing obtains each frame in each step.IMU
Module can carry out step-length estimation, to obtain current monocular phase by obtaining the acceleration information generated when mobile object movement
Machine builds the dimensional information being short of in figure in vision.Processor setting is beyond the clouds in server, i.e., high in the clouds receives IMU modules and regards
Feel acceleration signal and mobile location information that odometer module is sent respectively, and each step is obtained according to acceleration signal
Step information.Finally the ratio corresponding to vision map is established according to needed for the mobile location information and step information acquisition
Example ruler information.
The present embodiment described device can be according to 2 visual odometry output coordinate (x before and after often walkingi-1, yi-1)、 (xi,
yi) and step-length diCarry out the mapping of coordinate points.According to the corresponding engineer's scale of every step and odometer information, the normalizing of engineer's scale is carried out
Change, to provide engineer's scale information to draw accurate map.Detailed process is：According to the mobile location information and the step-length
Information acquisition proportionality coefficient；Re-projection is carried out to the mobile location information according to the proportionality coefficient and generates re-projection position letter
Breath；The engineer's scale information corresponding to vision map is established according to needed for re-projection positional information calculation acquisition.Specifically：
First, the physical size factor corresponding to each step is obtained, obtains suitable proportionality coefficient for Unitary coordinate
Processing.
For the i-th step, step-length di, odometer output is respectively (x before and after the stepi-1, yi-1)、(xi, yi)；It can then obtain
Corresponding physical size factor s during the stepi；
It can then obtain and build during figure, left and right dimension scale factor set S={ s1, s2s3…sn-1, sn}.Search set S
Maximum value is denoted as smax。
smax=max { s1, s2s3…sn-1, sn}
For the i-th step ratio physical size factor si, for maximum value smaxProportionality coefficient N be：
Secondly, since the 1st step, once each step visual output is remapped, i.e. re-projection, to realize that scale is returned
One changes.
For the i-th step, corresponding proportionality coefficient is Ni, and all outputs of visual odometry are { p ' during the step1,
p′2, p '3…p′k, then from p '1Start once to p '2, p '3…p′kCarry out re-projection.
Wherein, (x 'i-1, y 'i-1)、(x′i, y 'i) respectively represent adjacent two frames odometer output in a step；θ′iIt represents adjacent
The directional information of two frames；d′iRepresent adjacent two frames range information.
The re-projection of odometer output can be carried out according to adjacent two frame data distance, proportionality coefficient and deflection.
d″i=Ni*d′i
x″i=x "i-1+d″i*cosθ′i
y″i=y "i-1+d″i*sinθ′i
Wherein, d "iRepresent re-projection distance；, (x "i-1, y "i-1)、(x″i, y "i) to respectively represent adjacent two frames odometer defeated
Go out re-projection result.
Finally, vision map is drawn according to re-projection result, and obtains engineer's scale information.
Search re-projection odometer output P={ p "1, p "2…p″nMaxima and minima.
Wherein, (x "i, y "i) represent re-projection p "iCorresponding coordinate, x "min、x″max、y″min、y″maxIt is defeated to represent odometer
Go out all the points X-axis in re-projection P, Y-axis output maxima and minima.Map scale information is calculated according to image size.
x″dif=x "max-x″min
y″dif=y "max-y″min
Wherein, x "dif、y″difRe-projection coordinate is respectively represented in X-axis, the maximum distance of Y-axis；Behalf map scale；w
Represent the vision map size for needing to create.
To sum up, the present embodiment described device can restore scale by the IMU modules of addition offer size, there is dimensional information
Odometry can apply on robot navigation and its control.In addition, the processor described in the present embodiment may be provided at high in the clouds,
Processing is carried out to picture signal and acceleration signal in the form of cloud server and generates engineer's scale information.
Embodiment 3
As shown in figure 4, the present embodiment proposes electronic equipment described in a kind of electronic equipment includes：Display, memory, one
A or multiple processors；And one or more modules, one or more of modules are stored in the memory, and by
It is configured to be executed by one or more of processors, one or more of modules include for executing base described in embodiment 1
The instruction of each step in the vision map scale detection method in high in the clouds.
Embodiment 4
The present embodiment proposes a kind of computer program product, and the computer program product is non-volatile including being stored in
Computer program on computer readable storage medium, the computer program include program instruction, when described program instructs quilt
When computer executes, the computer is made to execute the vision map scale detection method based on high in the clouds as described in Example 1
In each step.
It should be understood by those skilled in the art that, the embodiment of the present invention can be provided as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the present invention
Apply the form of example.Moreover, the present invention can be used in one or more wherein include computer usable program code computer
The computer program production implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.)
The form of product.
The present invention be with reference to according to the method for the embodiment of the present invention, the flow of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that can be realized by computer program instructions each in flowchart and/or the block diagram
The combination of flow and/or box in flow and/or box and flowchart and/or the block diagram.These computer journeys can be provided
Sequence instruct to all-purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices processor with
Generate a machine so that the instruction generation executed by computer or the processor of other programmable data processing devices is used for
Realize the dress for the function of being specified in one flow of flow chart or multiple flows and/or one box of block diagram or multiple boxes
It sets.
These computer program instructions, which may also be stored in, can guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works so that instruction generation stored in the computer readable memory includes referring to
Enable the manufacture of device, the command device realize in one flow of flow chart or multiple flows and/or one box of block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device so that count
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, in computer or
The instruction executed on other programmable devices is provided for realizing in one flow of flow chart or multiple flows and/or block diagram one
The step of function of being specified in a box or multiple boxes.
Although preferred embodiments of the present invention have been described, it is created once a person skilled in the art knows basic
Property concept, then additional changes and modifications may be made to these embodiments.So it includes excellent that the following claims are intended to be interpreted as
It selects embodiment and falls into all change and modification of the scope of the invention.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
God and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (12)
1. a kind of vision map scale detection method based on high in the clouds, which is characterized in that the method includes：
Picture signal is obtained, according to the mobile location information of each frame in each step of described image signal acquisition；
Acceleration signal is obtained, the step information of each step is obtained according to the acceleration signal；
The engineer's scale information corresponding to vision map is established according to needed for the mobile location information and step information acquisition.
2. according to the method described in claim 1, it is characterized in that, described believe according to the mobile location information and the step-length
Breath establishes the detailed process of the engineer's scale information corresponding to vision map and includes needed for obtaining：
Proportionality coefficient is obtained according to the mobile location information and the step information；
Re-projection is carried out to the mobile location information according to the proportionality coefficient and generates re-projection location information；
The engineer's scale information corresponding to vision map is established according to needed for re-projection positional information calculation acquisition.
3. according to the method described in claim 2, it is characterized in that, described believe according to the mobile location information and the step-length
Breath obtain proportionality coefficient detailed process be：
The physical size factor corresponding to each step is obtained according to the mobile location information and the step information；
The physical size factor corresponding to each step collect and generates physical size factor set；
The maximum physical size factor is filtered out in the physical size factor set；
The ratio of the physical size factor corresponding to the maximum physical size factor and each step obtains each step
Corresponding proportionality coefficient.
4. according to the method described in claim 3, it is characterized in that, described believe the shift position according to the proportionality coefficient
Breath carry out re-projection generate re-projection location information detailed process be：
The directional information and range information of two consecutive points are obtained according to the mobile location information；
Re-projection, which is carried out, according to the directional information, range information and proportionality coefficient calculates the throwing again obtained corresponding to each step
Shadow location information.
5. according to the method described in claim 4, it is characterized in that, described obtain institute according to the re-projection positional information calculation
The detailed process that the engineer's scale information corresponding to vision map need to be established is：
By in the re-projection location information corresponding to each step abscissa and ordinate carry out collecting respectively and generate horizontal seat
Mark set and ordinate set；
Abscissa maximum value and minimum value are filtered out in the abscissa set；
Abscissa maximum value and abscissa minimum value are done into difference and obtain abscissa maximum range value；
Ordinate maximum value and minimum value are filtered out in the ordinate set；
Ordinate maximum value and ordinate minimum value are done into difference and obtain ordinate maximum range value；
It is established corresponding to vision map according to needed for the abscissa maximum range value and ordinate maximum range value acquisition
Engineer's scale information.
6. a kind of vision map scale detection device based on high in the clouds, which is characterized in that described device includes：Camera model,
IMU modules, visual odometry module and processor；
Described image signal is sent to visual odometry module by the camera model for acquiring picture signal；
The acceleration signal is sent to processor by the IMU modules for acquiring acceleration signal；
The visual odometry module, the picture signal for receiving camera model transmission, and according to described image signal acquisition
The mobile location information of each frame in each step；
The processor is configured with the executable operational order of processor, to execute following operation：
The step information of each step is obtained according to the acceleration signal；
The engineer's scale information corresponding to vision map is established according to needed for the mobile location information and step information acquisition.
7. device according to claim 6, which is characterized in that the processor is configured with what processor can perform
Operational order, to execute following operation：
Proportionality coefficient is obtained according to the mobile location information and the step information；
Re-projection is carried out to the mobile location information according to the proportionality coefficient and generates re-projection location information；
The engineer's scale information corresponding to vision map is established according to needed for re-projection positional information calculation acquisition.
8. device according to claim 7, which is characterized in that the processor is configured with what processor can perform
Operational order, to execute following operation：
The physical size factor corresponding to each step is obtained according to the mobile location information and the step information；
The physical size factor corresponding to each step collect and generates physical size factor set；
The maximum physical size factor is filtered out in the physical size factor set；
The ratio of the physical size factor corresponding to the maximum physical size factor and each step obtains each step
Corresponding proportionality coefficient.
9. device according to claim 8, which is characterized in that the processor is configured with what processor can perform
Operational order, to execute following operation：
The directional information and range information of two consecutive points are obtained according to the mobile location information；
Re-projection, which is carried out, according to the directional information, range information and proportionality coefficient calculates the throwing again obtained corresponding to each step
Shadow location information.
10. device according to claim 9, which is characterized in that the processor is configured with what processor can perform
Operational order, to execute following operation：
By in the re-projection location information corresponding to each step abscissa and ordinate carry out collecting respectively and generate horizontal seat
Mark set and ordinate set；
Abscissa maximum value and minimum value are filtered out in the abscissa set；
Abscissa maximum value and abscissa minimum value are done into difference and obtain abscissa maximum range value；
Ordinate maximum value and minimum value are filtered out in the ordinate set；
Ordinate maximum value and ordinate minimum value are done into difference and obtain ordinate maximum range value；
It is established corresponding to vision map according to needed for the abscissa maximum range value and ordinate maximum range value acquisition
Engineer's scale information.
11. a kind of electronic equipment, which is characterized in that the electronic equipment includes：Display, memory, one or more processing
Device；And one or more modules, one or more of modules are stored in the memory, and are configured to by described
One or more processors execute, and one or more of modules include any the method in requiring 1 to 5 for perform claim
In each step instruction.
12. a kind of computer program product, which is characterized in that the computer program product includes being stored in non-volatile calculating
Computer program on machine readable storage medium storing program for executing, the computer program include program instruction, when described program instruction is calculated
When machine executes, the computer is made to execute such as each step in method described in any one of claim 1 to 5.
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