JP2007530978A - 反射光源を使用する位置推定方法および装置 - Google Patents
反射光源を使用する位置推定方法および装置 Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
- G01S5/163—Determination of attitude
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
- G01C3/02—Details
- G01C3/06—Use of electric means to obtain final indication
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/46—Indirect determination of position data
- G01S17/48—Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
Abstract
Description
本願は、2004年3月29日付出願の米国仮出願第60/557,252号の利益を主張し、その全体が、参照によりここに組み込まれる。
添付書類Aは、本開示の一部分を形成し、共通の所有者が所有する同時係属米国特許出願の一覧表である。添付書類Aに挙げられた各同時係属出願は、その全体が、参照によりここに組み込まれる。
ポーズ: ポーズとは、空間内における位置および姿勢のことである。三次元では、ポーズは、位置(x,y,z)と、三次元空間の軸線に対する姿勢(α、β、θ)を指し得る。二次元では、ポーズは、平面における位置(x,y)と、その平面への垂直線に対する姿勢θとを指し得る。
図3に関連する前述の座標系、距離、角度、および点に関して、PSDカメラは、c1およびc2を測定可能であり、これらのc1およびc2は、PSDセンサへのw1およびw2の投射に対応する。一実施形態では、本方法の目的は、グローバル基準座標系においてPSDカメラの位置Sを測定することである。
一実施形態では、本装置は、N個の光スポットを投射するN台のエミッタと、M台のカメラとを含む。グローバル基準座標におけるi番目のカメラの位置は、本明細書では、Si=(xi,yi,zi)と示し、グローバル基準座標におけるi番目のカメラの回転姿勢は、本明細書では、Ri=(αi,βi,θi)と示す。j番目の光スポットの位置は、本明細書ではwjと示し、i番目のカメラへのj番目の光スポットの投射位置は、本明細書では、cijと示す。次に、以下の関係は、Si、wj、cijに関する。
一実施形態では、本システムは、天井へ投射される2つのスポットと、1台のPSDカメラを有する1台の光学位置センサとを含む。PSDカメラの基準座標系におけるスポットwjと投射cjとの間の関係は、以下の式により得られる。
一実施形態では、本システムは、天井に投射される1つのスポットと、PSDカメラを1台有する1台の光位置センサとを含む。式2に関して上述した関係と同様に、PSDカメラ基準座標系におけるスポットwとその投射cとの間の関係は、以下の式により与えられる。
本方法および装置の一実施形態は、CCDカメラ、CMOSカメラなどのカメラと、天井などの投射面にパターンを生成するプロジェクタとを含む。本実施形態は、複数のカメラおよび/または複数のプロジェクタを含み得ることが理解されるだろう。例として、プロジェクタは、スライドプロジェクタに相当する場合があり、パターンは、スライドにおいて符号化され得る。一実施形態では、少なくとも1つのパターンは円形であり、また、別の実施形態では、少なくとも1つのパターンは、四角形である。各カメラは、グレースケールまたはカラー画像を生成する。信号処理装置は、カメラの像を処理し、特有のパターンを引き出し、カメラセンサ座標系におけるパターンの位置を推定する。パターンの位置は、パターンの重心として定義され得る。グローバル基準座標系におけるj番目のパターンの位置は、本明細書ではwjと示し、i番目のカメラ基準座標系におけるj番目のパターンの位置は、cijと示し得る。次に、j番目のパターンとi番目のカメラへのパターンの投射との間の関係は、式1により定義される。信号処理装置は、カメラの像を捕らえ、1つまたはそれ以上の像分析技術を用いてその像を処理して既知のパターンの位置を検出し引き出し得る。像分析技術には、例として、直線および角の検出(例えば、四角形のパターンの検出)、ハフ変換(例えば、円の検出)などが含まれ得る。カメラの基準座標系におけるパターンの位置を測定した後、信号処理装置は、既述の方法を用いてグローバル基準座標系に対するカメラの位置を測定し得る。任意選択的に、プロジェクタの1つまたはそれ以上のプロジェクタは、周辺光の影響を低減させるためにオン−オフ変調し得る。周波数の変調は、各パターンと特有の識別子とを関連づけるために用い得ることが好ましい。一実施形態では、パターンの識別子は、パターン自体の中において符号化されることが好ましい。一例として、パターン形状は、各パターンに別個の形状が使用される場合、特有の識別子を定め得る。例えば、本システムは、四角形のパターンと円形のパターンとを区別し、各パターンと異なる識別子とを関連づけ得る。
Claims (27)
- ある面を有する壁により画定される領域内において物体の位置を推定するための位置推定システムであって、
前記面の実質的に固定された場所の光スポットと、
前記光スポットからの反射光を検出するように前記物体に装着された検出器と、
前記検出器により検出された反射光を用いて前記物体の位置を推定するように、前記物体に装着されたデータ処理装置と、
を備えるシステム。 - 前記光スポットが投射される前記面を有する壁には、天井が含まれる請求項1に記載の位置推定システム。
- 前記光スポットは、光源の投射である請求項1に記載の位置推定システム。
- 前記検出器には、位置検出素子(PSD)が含まれ、前記PSDへ入射する前記反射光の重心を用いて、前記物体の位置を推定する請求項1に記載の位置推定システム。
- 前記光スポットには、2つの光スポットが含まれ、かつ、前記反射光には、前記2つの光スポットからそれぞれ反射した2つの光が含まれ、前記データ処理装置は、前記2つの反射光がそれぞれ前記検出器に入射する場所同士の間の距離を用いて、前記物体の位置を推定する請求項1に記載の位置推定システム。
- 前記データ処理装置はまた、前記物体の角姿勢を推定する請求項1に記載の位置推定システム。
- 前記物体は、前記光源により投射された前記光スポットの波長と異なる波長の光をフィルタ処理するための光フィルタをさらに含む請求項3に記載の位置推定システム。
- 前記光源には2つの光源が含まれ、前記光スポットには2つの光スポットが含まれ、前記光源は、相互に異なる特性の光を生成して、前記2つの光スポットが、前記検出器および/または前記データ処理装置により相互に区別され得る請求項2に記載の位置推定システム。
- 前記異なる特性には、異なる光強度パターンが含まれる請求項8に記載の位置推定システム。
- 前記異なる特性には、異なる変調が含まれる請求項8に記載の位置推定システム。
- 前記光スポットは、前記データ処理装置により引き出され得る情報を含むように、ビットパターンで符号化される請求項1に記載の位置推定システム。
- 前記面は、投射された前記光スポットの少なくとも一部分を反射する反射面を含む請求項1に記載の位置推定システム。
- ある面を有する壁により画定された領域において物体の位置を推定する方法であって、
前記面の実質的に固定された場所に光スポットを投射するステップと、
前記物体に装着された検出器を使用して前記光スポットからの反射光を検出するステップと、
前記検出器により検出された前記反射光を用いて、前記物体に装着されたデータ処理装置で、前記物体の位置を推定するステップと、
を含む方法。 - 前記光スポット投射ステップは、天井を含む前記壁の面に前記光スポットを投射するステップを含む請求項13に記載の方法。
- 前記光スポット投射ステップは、光源により行われる請求項13に記載の方法。
- 前記検出器は、位置検出素子(PSD)を含み、前記位置推定ステップは、前記PSDへ入射する前記反射光の重心を用いて位置を推定するステップを含む請求項13に記載の方法。
- 前記光スポットには、2つの光スポットが含まれ、前記反射光には、前記2つの光スポットからそれぞれ反射した2つの光が含まれ、前記位置推定ステップは、前記2つの反射光がそれぞれ前記検出器に入射する場所同士の間の距離を用いて、前記物体の位置を推定するステップを含む請求項13に記載の方法。
- 前記物体の角姿勢を推定するステップをさらに含む請求項13に記載の方法。
- 前記光源により投射される前記光スポットの波長と異なる波長の光をフィルタ処理するステップをさらに含む請求項15に記載の方法。
- 前記光源には、2つの光源が含まれ、前記光スポットには、2つの光スポットが含まれ、前記2つの光源は、相互に異なる特性の光を生成して、前記2つの光スポットが、前記検出器および/または前記データ処理装置により相互に区別され得る請求項15に記載の方法。
- 前記異なる特性には、異なる光強度パターンが含まれる請求項20に記載の方法。
- 前記異なる特性には、異なる変調が含まれる請求項20に記載の方法。
- 前記光スポットは、前記データ処理装置により引き出し得る情報を含むようにビットパターンで符号化され得る請求項13に記載の方法。
- 前記面は、投射された前記光スポットの少なくとも一部分を反射する反射面を含む請求項16に記載の方法。
- ある面を有する壁により画定された領域において物体の位置を推定するために、実体的媒体として実施されたコンピュータプログラムであって、
前記面の実質的に固定された場所にある光スポットの場所を計算するように構成された命令を有するモジュールと、
前記物体に装着された検出器により記録された反射光の場所を計算するように構成された命令を有するモジュールと、
前記光源の場所と前記反射光の場所とを用いて、前記物体の位置を推定するように構成された命令を有するモジュールと、
を含むコンピュータプログラム。 - 前記光スポットの場所には、2つの光スポットの2つの場所が含まれ、前記反射光の場所には、前記2つの光スポットからそれぞれ反射した2つの光の2つの場所が含まれ、前記物体の位置を推定するように構成された命令を有する前記モジュールは、前記2つの反射光がそれぞれ前記検出器に入射する場所同士の間の距離を用いて前記物体の位置を推定する請求項25に記載のコンピュータプログラム。
- 前記物体の位置を推定するように構成された命令を有する前記モジュールはまた、前記物体の角姿勢を推定する請求項25に記載のコンピュータプログラム。
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US55725204P | 2004-03-29 | 2004-03-29 | |
PCT/US2005/010244 WO2005098476A1 (en) | 2004-03-29 | 2005-03-25 | Method and apparatus for position estimation using reflected light sources |
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WO2005098476A1 (en) | 2005-10-20 |
US9360300B2 (en) | 2016-06-07 |
US8295955B2 (en) | 2012-10-23 |
US20100228421A1 (en) | 2010-09-09 |
US20140268179A1 (en) | 2014-09-18 |
US8780342B2 (en) | 2014-07-15 |
US20050213082A1 (en) | 2005-09-29 |
US7996097B2 (en) | 2011-08-09 |
DE112005000738T5 (de) | 2007-04-26 |
US7720554B2 (en) | 2010-05-18 |
US20130245937A1 (en) | 2013-09-19 |
US20120022785A1 (en) | 2012-01-26 |
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