JP2001148025A5 - - Google Patents

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JP2001148025A5
JP2001148025A5 JP2000218970A JP2000218970A JP2001148025A5 JP 2001148025 A5 JP2001148025 A5 JP 2001148025A5 JP 2000218970 A JP2000218970 A JP 2000218970A JP 2000218970 A JP2000218970 A JP 2000218970A JP 2001148025 A5 JP2001148025 A5 JP 2001148025A5
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Japan
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position
imaging
vanishing
plane
point
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JP2000218970A
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JP2001148025A (en
JP3690581B2 (en
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Priority to JP25273299 priority Critical
Priority to JP11-252732 priority
Application filed filed Critical
Priority to JP2000218970A priority patent/JP3690581B2/en
Priority claimed from JP2000218970A external-priority patent/JP3690581B2/en
Priority claimed from US09/656,464 external-priority patent/US6727885B1/en
Priority claimed from US09/797,829 external-priority patent/US20010010514A1/en
Publication of JP2001148025A publication Critical patent/JP2001148025A/en
Publication of JP2001148025A5 publication Critical patent/JP2001148025A5/ja
Publication of JP3690581B2 publication Critical patent/JP3690581B2/en
Application granted granted Critical
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Description

  In JP-A 6-308879, a plurality of light emitting elements are disposed in the vicinity of the screen, and a light receiving element for receiving light from the plurality of light emitting elements is provided in the indicator. This is an optical pointing system that enables the computer to calculate the position on the display screen in the axial direction indicated by the indicator based on the directivity of light.

  As described in JP-A-6-308879, in the method of providing a light emitting element on a display screen and receiving light emitted by a photoelectric conversion element provided on an indicator, the light emitting element is placed on the display screen to detect the position. There is a problem of lack of versatility because it must be provided. Furthermore, it is necessary to devise the directivity of the light intensity and the light receiving element structure for calculating the detected position by detecting the directivity and the problem that the detected position accuracy on the screen is not high occurs.

Further, the method of measuring the position of an object in a three-dimensional space using a plurality of imaging devices has a problem that the size of the device increases and the amount of arithmetic processing also increases.
The object of the present invention is to make it possible to easily detect the posture position of a predetermined plane to be imaged and the detected position on the plane from information of only imaged image data, and to provide a compact and lightweight operation having a high degree of freedom. It is an object of the present invention to provide a position detection device and method thereof, and a flat attitude detection device and method thereof.

[0009]
[Means for Solving the Problems]
In order to solve the above problems, an apparatus for detecting a detected position on a predetermined plane having a plurality of feature points according to claim 1 of the present invention comprises an imaging surface predetermined at the detected position on the predetermined plane. Image pick-up means for picking up an image in a state matched to the upper reference position, feature point identification means for identifying the coordinate position of the feature point on the image pickup surface from the image data obtained by the image pick-up means The posture calculation means for calculating the posture parameter of the predetermined plane with respect to the imaging plane based on the determined coordinate position, the result of the posture calculation means, and the coordinate position of the feature point; And coordinate calculation means for calculating coordinate positions.

  The position detection method according to claim 13 of the present invention is an image pickup step of picking up an image in a state in which a reference position on an imaging surface predetermined in advance is aligned with the detected position on the predetermined plane. A feature point identification step of identifying the coordinate position of the feature point on the imaging surface from the data, and a planar attitude calculation step of computing an attitude parameter of a predetermined plane with respect to the imaging surface based on the coordinate position identified in the feature point identification step And calculating the coordinate position of the detected position on the predetermined plane based on the result of the plane attitude calculation step and the coordinate position of the feature point.

  The planar attitude detection apparatus according to claim 16 of the present invention is an imaging means for imaging at least four feature points on the predetermined plane, with the predetermined reference position on the imaging plane as the origin of the imaging coordinate system; Feature point identification means for identifying the coordinate position of the feature point on the imaging surface from the image data obtained by the imaging means; vanishing point processing means for calculating the vanishing point based on the coordinate position of the feature point; A posture parameter of a predetermined plane with respect to the imaging surface is calculated based on the result of the vanishing point processing means and the coordinate position of the feature point.

  The planar attitude detection method according to a twenty-second aspect of the present invention is an imaging step of imaging at least four feature points on the predetermined plane using a predetermined reference position on an imaging plane as an origin of a captured image coordinate system; A feature point identification step of identifying the coordinate position of the feature point on the imaging surface from the image data obtained by the imaging step; and a vanishing point processing step of calculating the vanishing point based on the coordinate position of the feature point. And calculating a posture parameter of a predetermined plane with respect to the imaging surface based on the result of the vanishing point processing step and the coordinate position of the feature point.

(B2) Perspective projection conversion processing (fourth computing means)
Here, based on the result of specifying the coordinates of the four feature points characterizing the rectangular shape in the image coordinate system (X-Y coordinate system) of the imaging surface, a predetermined for the imaging surface placed in the three-dimensional space The perspective projection conversion processing for calculating the posture parameter (ψ, γ) of the plane will be described.

When calculating the coordinates of the detected position on the predetermined plane, any one of the calculated attitude parameters (ψ, γ) of the two planes may be calculated.
Now, let us consider a personal computer display screen with four corners of an image in which feature points are displayed on a predetermined plane. The maximum dot number Umax to be displayed and the maximum dot number Vmax on the vertical axis are known, so if X * max = Umax and Y * max = Vmax in equation 14, the coordinate position of the detected position can be easily calculated.

The optical parameters of the imaging means used for the calculation were only the focal length, and f = 5 mm was used. In addition, 姿勢 = 60 degrees and γ = 5 degrees were used as posture parameters of the screen plane with respect to the imaging surface.
Posture parameter values ψ, γ and axial ratios m and n of the detected position calculated in advance based on the coordinate position data on the image coordinates obtained as a result of the simulation calculation are variously It verified whether it became the set value.

As a result, the posture position from the imaging surface of the screen and the position to be detected coincide very accurately with the values of 60 degrees and 5 degrees set in advance, and it was verified that they were in principle correct.

Claims (24)

  1. An apparatus for detecting a detected position on a predetermined plane having a plurality of feature points, comprising:
    An imaging unit configured to perform imaging in a state of being aligned with a reference position on an imaging surface predetermined at the detected position on the predetermined plane;
    Feature point specifying means for specifying the coordinate position of the feature point on the imaging surface from the image data obtained by the imaging means;
    Attitude calculation means for calculating an attitude parameter of a predetermined plane with respect to the imaging plane based on the coordinate position specified by the feature point specifying means;
    Coordinate calculation means for calculating the coordinate position of the detected position on the predetermined plane based on the result of the posture calculation means and the coordinate position of the feature point;
    A position detecting device comprising:
  2.   The position detection apparatus according to claim 1, wherein the reference position is an origin of a coordinate system of an imaging surface.
  3.   The position detection apparatus according to claim 1, wherein the reference position is a point at which an optical axis of the imaging unit cuts an imaging surface.
  4.   The position detection apparatus according to claim 1, further comprising a finder for performing imaging in a state where the detected position is aligned with a predetermined reference position on an imaging surface.
  5.   A light beam is irradiated to irradiate a light beam whose bright spot is a detected position on the predetermined plane so that imaging is performed in a state of being aligned with a predetermined reference position on the imaging surface at the detected position. The position detection device according to claim 1, further comprising:
  6.   The position detecting device according to claim 5, wherein an optical axis of the light beam irradiating means substantially coincides with an optical axis of the imaging means.
  7.   The position detection apparatus according to claim 1, wherein the predetermined plane is a display image existing in a plane.
  8.   The position detection device according to claim 1, wherein the plurality of feature points are displayed images.
  9.   The position detection apparatus according to claim 1, wherein the plane attitude calculation means calculates based on a vanishing point formed by the feature points.
  10.   The planar attitude calculation means calculates vanishing feature points based on the coordinate positions of the feature points, vanishing point processing means, and the posture parameter based on the results of the vanishing point processing means and the coordinate positions of the feature points. The position detection apparatus according to claim 1, further comprising: perspective projection computing means for computing.
  11. The vanishing point processing means ties vanishing point calculation means for calculating the vanishing point based on the coordinate position identified by the feature point identifying means, and ties the vanishing point to a reference position predetermined on the imaging surface. An elimination line calculation means for calculating an elimination line;
    The position detection apparatus according to claim 10, further comprising: a vanishing feature point calculating unit that calculates a coordinate position of an intersection point of the vanishing line and a straight line between two adjacent points of the feature points.
  12.   The vanishing feature point calculating unit rotates captured image data about a reference position on an image such that one vanishing point of the vanishing points coincides with one of the X axis and the Y axis of the image coordinate system. 12. The position detection device according to claim 11, wherein an attitude parameter of a predetermined plane with respect to the imaging surface is calculated by the image coordinate conversion means.
  13. A method of detecting a detected position on a predetermined plane having a plurality of feature points, comprising:
    An imaging step of imaging in a state in which a predetermined reference position on the imaging surface is aligned with the detected position on the predetermined plane;
    A feature point identification step of identifying the coordinate position of the feature point on the imaging surface from the image data obtained by the imaging step;
    A plane attitude calculation step of calculating an attitude parameter of a predetermined plane with respect to the imaging plane based on the coordinate position specified in the feature point specifying step;
    Calculating the coordinate position of the detected position on the predetermined plane based on the result of the plane attitude calculation step and the coordinate position of the feature point;
    A position detection method characterized by including.
  14. The planar attitude calculation step is based on the coordinate position of the feature point.
    14. A method according to claim 13, further comprising: a vanishing point processing step of computing a vanishing point; and a perspective projection computing step of computing the posture parameter based on the result of the vanishing point processing step and the coordinate position of the feature point. Position detection method described.
  15.   The vanishing point processing step rotates the captured image data about a reference position on the image so that one vanishing point of the vanishing points coincides with either the X axis or the Y axis of the image coordinate system. The position detection method according to claim 14, further comprising a coordinate conversion step.
  16. A planar attitude detection device for detecting an attitude of a predetermined plane in a three-dimensional space, comprising:
    Imaging means for imaging at least four feature points on the predetermined plane with the predetermined reference position on the imaging plane as the origin of the imaging coordinate system;
    Feature point specifying means for specifying the coordinate position of the feature point on the imaging surface from the image data obtained by the imaging means;
    An attitude parameter of a predetermined plane with respect to the imaging plane is calculated based on the vanishing point processing means for calculating and processing the vanishing point based on the coordinate position of the feature point, and the result of the vanishing point processing means and the coordinate position of the feature point. A flat attitude detection device characterized in that.
  17. 17. The planar attitude detection apparatus according to claim 16, wherein the reference position is a point at which the optical axis of the imaging means cuts an imaging surface.
  18.   The vanishing point processing means ties vanishing point calculation means for calculating the vanishing point based on the coordinate position identified by the feature point identifying means, and ties the vanishing point to a reference position predetermined on the imaging surface. The apparatus is characterized by comprising: an elimination line calculation means for calculating an elimination line; and an elimination feature point calculation means for calculating a coordinate position of an intersection of the elimination line and a straight line between two adjacent points of the feature points. The plane attitude detection apparatus according to claim 16.
  19.   The vanishing point processing means rotates the captured image data about a reference position on the image such that one vanishing point of the vanishing points coincides with either the X axis or the Y axis of the image coordinate system. 17. The plane attitude detection apparatus according to claim 16, wherein an attitude parameter of a predetermined plane with respect to the imaging plane is calculated by the coordinate conversion means.
  20.   The plane attitude detection apparatus according to claim 16, wherein the predetermined plane is an image displayed on a plane.
  21.   17. The plane attitude detection apparatus according to claim 16, wherein the plurality of feature points are images displayed on the predetermined plane.
  22. A planar attitude detection method for detecting an attitude of a predetermined plane in a three-dimensional space, comprising:
    An imaging step of imaging at least four feature points on the predetermined plane with the predetermined reference position on the imaging plane as the origin of the imaged image coordinate system;
    A feature point identification step of identifying the coordinate position of the feature point on the imaging surface from the image data obtained by the imaging step;
    And a vanishing point processing step of calculating and processing the vanishing point based on the coordinate position of the feature point,
    And calculating a posture parameter of a predetermined plane with respect to an imaging surface based on the result of the vanishing point processing step and the coordinate position of the feature point.
  23. The vanishing point processing step comprises: a vanishing point calculating step of calculating a vanishing point based on the coordinate position specified by the feature point specifying step;
    A coordinate of an intersection point of a vanishing line calculating step of calculating a vanishing line connecting the vanishing point and a predetermined reference position on the imaging surface, and a vanishing line and a straight line between two adjacent points of the feature point The planar attitude detection method according to claim 22, further comprising: a lost feature point calculating step of calculating a position.
  24.   The vanishing point processing step rotates the captured image data about a reference position on the image such that one vanishing point of the vanishing points coincides with either the X axis or the Y axis of the image coordinate system. The method according to claim 22, further comprising a coordinate conversion step.
JP2000218970A 1999-09-07 2000-07-19 Position detection device and method therefor, plain position detection device and method thereof Expired - Fee Related JP3690581B2 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP25273299 1999-09-07
JP11-252732 1999-09-07
JP2000218970A JP3690581B2 (en) 1999-09-07 2000-07-19 Position detection device and method therefor, plain position detection device and method thereof

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2000218970A JP3690581B2 (en) 1999-09-07 2000-07-19 Position detection device and method therefor, plain position detection device and method thereof
US09/656,464 US6727885B1 (en) 1999-09-07 2000-09-06 Graphical user interface and position or attitude detector
US09/797,829 US20010010514A1 (en) 1999-09-07 2001-03-05 Position detector and attitude detector

Publications (3)

Publication Number Publication Date
JP2001148025A5 true JP2001148025A5 (en) 2001-05-29
JP2001148025A JP2001148025A (en) 2001-05-29
JP3690581B2 JP3690581B2 (en) 2005-08-31

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JP2000218970A Expired - Fee Related JP3690581B2 (en) 1999-09-07 2000-07-19 Position detection device and method therefor, plain position detection device and method thereof

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Families Citing this family (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8542219B2 (en) * 2004-01-30 2013-09-24 Electronic Scripting Products, Inc. Processing pose data derived from the pose of an elongate object
WO2005096130A1 (en) * 2004-03-31 2005-10-13 Tamura Corporation Method and device for detecting directed position of image pickup device and program for detecting directed position of image pickup device
WO2005096129A1 (en) * 2004-03-31 2005-10-13 Tamura Corporation Method and device for detecting directed position of image pickup device and program for detecting directed position of image pickup device
US7746321B2 (en) 2004-05-28 2010-06-29 Erik Jan Banning Easily deployable interactive direct-pointing system and presentation control system and calibration method therefor
JP2006317418A (en) * 2005-05-16 2006-11-24 Nikon Corp Image measuring device, image measurement method, measurement processing program, and recording medium
JP4626416B2 (en) 2005-06-20 2011-02-09 セイコーエプソン株式会社 Projector
US9285897B2 (en) 2005-07-13 2016-03-15 Ultimate Pointer, L.L.C. Easily deployable interactive direct-pointing system and calibration method therefor
TWI345720B (en) * 2007-04-24 2011-07-21 Pixart Imaging Inc Cursor controlling device and method for image apparatus and image system
US8144123B2 (en) * 2007-08-14 2012-03-27 Fuji Xerox Co., Ltd. Dynamically controlling a cursor on a screen when using a video camera as a pointing device
JP2011521316A (en) * 2008-04-10 2011-07-21 ハンセン,カール,クリストファーHANSEN,Karl,Christopher Easy to use optical wireless remote control device
JP4678428B2 (en) * 2008-06-23 2011-04-27 パナソニック電工株式会社 Virtual space position pointing device
US8791901B2 (en) * 2011-04-12 2014-07-29 Sony Computer Entertainment, Inc. Object tracking with projected reference patterns
JP2015232739A (en) * 2012-10-02 2015-12-24 パナソニック株式会社 Attachment for electronic pen and image display system
CN105389804B (en) * 2015-10-22 2018-10-23 西交利物浦大学 A kind of multiple acting indicator implementation method based on image procossing

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