CN114199121B - 移动体位置决定装置、方法以及系统 - Google Patents

移动体位置决定装置、方法以及系统 Download PDF

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Publication number
CN114199121B
CN114199121B CN202111077125.0A CN202111077125A CN114199121B CN 114199121 B CN114199121 B CN 114199121B CN 202111077125 A CN202111077125 A CN 202111077125A CN 114199121 B CN114199121 B CN 114199121B
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China
Prior art keywords
light emitting
emitting devices
image
moving body
coordinate
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CN202111077125.0A
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English (en)
Chinese (zh)
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CN114199121A (zh
Inventor
饭塚宣男
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Casio Computer Co Ltd
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Casio Computer Co Ltd
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    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G06T7/74—Determining position or orientation of objects or cameras using feature-based methods involving reference images or patches
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/24—Electrical devices or systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
    • 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
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/246—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
    • G06T7/248—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments involving reference images or patches
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/55—Depth or shape recovery from multiple images
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/0755—Position control; Position detectors
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10016—Video; Image sequence
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10024—Color image
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30204—Marker
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30244—Camera pose
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Multimedia (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
CN202111077125.0A 2020-09-18 2021-09-15 移动体位置决定装置、方法以及系统 Active CN114199121B (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2020-157122 2020-09-18
JP2020157122A JP7582825B2 (ja) 2020-09-18 2020-09-18 移動体位置決定装置、移動体位置決定方法及びプログラム

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CN114199121A CN114199121A (zh) 2022-03-18
CN114199121B true CN114199121B (zh) 2025-03-28

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US (1) US11900632B2 (https=)
JP (2) JP7582825B2 (https=)
CN (1) CN114199121B (https=)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7689308B2 (ja) * 2020-02-07 2025-06-06 パナソニックＩｐマネジメント株式会社 測位システム
JP7136141B2 (ja) * 2020-02-07 2022-09-13 カシオ計算機株式会社 情報管理装置、情報管理方法及びプログラム
JP7582825B2 (ja) * 2020-09-18 2024-11-13 カシオ計算機株式会社 移動体位置決定装置、移動体位置決定方法及びプログラム
JP2023159741A (ja) * 2022-04-20 2023-11-01 キヤノン株式会社 電子機器、電子機器の制御方法、プログラム、および記憶媒体
JP2023181667A (ja) * 2022-06-13 2023-12-25 カシオ計算機株式会社 情報処理装置、情報処理方法及びプログラム
US12412307B2 (en) * 2022-11-23 2025-09-09 Tyco Fire & Security Gmbh Camera calibration and distance measurement based on homography
US11776382B1 (en) 2022-12-23 2023-10-03 The Adt Security Corporation Premises security system using ultra-wideband (UWB) functionality to initiate at least one action
JP2025049827A (ja) 2023-09-22 2025-04-04 カシオ計算機株式会社 情報処理装置、情報処理方法及びプログラム

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011134058A (ja) * 2009-12-24 2011-07-07 B-Core Inc 光学式自己位置検知装置及び方法

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JPH01187608A (ja) * 1988-01-21 1989-07-27 Komatsu Ltd 無人移動体の誘導位置補正装置
JP3494075B2 (ja) 1999-05-25 2004-02-03 三菱電機株式会社 移動体の自己位置標定装置
JP4032793B2 (ja) * 2002-03-27 2008-01-16 ソニー株式会社 充電システム及び充電制御方法、ロボット装置、及び充電制御プログラム及び記録媒体
JP2005003445A (ja) 2003-06-10 2005-01-06 Shimizu Corp 移動体装置の位置同定システムおよびその位置同定方法
JP4264380B2 (ja) 2004-04-28 2009-05-13 三菱重工業株式会社 自己位置同定方法及び該装置
KR100776215B1 (ko) 2005-01-25 2007-11-16 삼성전자주식회사 상향 영상을 이용한 이동체의 위치 추정 및 지도 생성장치 및 방법과 그 장치를 제어하는 컴퓨터 프로그램을저장하는 컴퓨터로 읽을 수 있는 기록 매체
JP4560128B1 (ja) * 2009-08-13 2010-10-13 株式会社パスコ 地図画像統合データベース生成システム及び地図画像統合データベース生成プログラム
CN102980555B (zh) * 2012-12-06 2015-04-08 紫光股份有限公司 一种光学成像式轮式移动机器人方位的检测方法及其装置
JP2014157051A (ja) 2013-02-15 2014-08-28 Toyota Industries Corp 位置検出装置
JP2019500596A (ja) * 2015-12-03 2019-01-10 オスラム・シルバニア・インコーポレイテッド 移動通信システムのための光ベースの車両位置特定
JP6726118B2 (ja) * 2017-02-22 2020-07-22 パナソニック インテレクチュアル プロパティ コーポレーション オブ アメリカＰａｎａｓｏｎｉｃ Ｉｎｔｅｌｌｅｃｔｕａｌ Ｐｒｏｐｅｒｔｙ Ｃｏｒｐｏｒａｔｉｏｎ ｏｆ Ａｍｅｒｉｃａ 制御装置、無線通信端末および位置推定システム
JP6834644B2 (ja) * 2017-03-21 2021-02-24 富士ゼロックス株式会社 入力装置、画像形成装置及びプログラム
US11361466B2 (en) * 2018-11-30 2022-06-14 Casio Computer Co., Ltd. Position information acquisition device, position information acquisition method, recording medium, and position information acquisition system
JP7582825B2 (ja) * 2020-09-18 2024-11-13 カシオ計算機株式会社 移動体位置決定装置、移動体位置決定方法及びプログラム

Patent Citations (1)

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JP2011134058A (ja) * 2009-12-24 2011-07-07 B-Core Inc 光学式自己位置検知装置及び方法

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JP7582825B2 (ja) 2024-11-13
JP2023126497A (ja) 2023-09-07
US11900632B2 (en) 2024-02-13
US20220092815A1 (en) 2022-03-24
JP2022050929A (ja) 2022-03-31
CN114199121A (zh) 2022-03-18

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