JP2008185417A5 - - Google Patents
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- JP2008185417A5 JP2008185417A5 JP2007018271A JP2007018271A JP2008185417A5 JP 2008185417 A5 JP2008185417 A5 JP 2008185417A5 JP 2007018271 A JP2007018271 A JP 2007018271A JP 2007018271 A JP2007018271 A JP 2007018271A JP 2008185417 A5 JP2008185417 A5 JP 2008185417A5
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Claims (20)
情報処理装置周囲のイメージ（画像）を撮影するカメラと、
前記カメラの取得した取得イメージとのマッチング処理を行なう参照用イメージを格納した記憶部と、
前記カメラの取得したイメージに基づいて情報処理装置の自己位置もしくは自己姿勢の同定処理を実行するデータ処理部を有し、
前記データ処理部は、
前記カメラの取得した取得イメージと前記参照用イメージとのイメージ・マッチング処理により、一致度の高い参照用イメージに対して高スコアを設定するスコア算出を実行して、算出スコアに基づいて情報処理装置のポーズ候補の確率分布である候補確率分布データを算出し、
前記候補確率分布データに基づくデータ変換処理により情報処理装置のポーズ仮説に対応する確率分布である情報処理装置の位置姿勢確率分布データを算出する処理を実行する構成であることを特徴とする情報処理装置。 It is an information processing device that executes identification processing of self position or self posture,
A camera that captures images around the information processing device;
A storage unit storing a reference image for performing matching processing with an acquired image acquired by the camera;
A data processing unit that executes identification processing of the self-position or self-orientation of the information processing device based on the image acquired by the camera;
The data processing unit
By performing image matching processing between the acquired image acquired by the camera and the reference image, score calculation for setting a high score for the reference image having a high degree of coincidence is performed, and the information processing apparatus is based on the calculated score Calculate candidate probability distribution data that is the probability distribution of the pose candidates of
Information processing characterized in that a process for calculating position / posture probability distribution data of an information processing apparatus, which is a probability distribution corresponding to a pose hypothesis of the information processing apparatus, is performed by data conversion processing based on the candidate probability distribution data apparatus.
新たに取得するイメージに基づいて、前記仮説確率分布データの更新処理を実行して、最も確率値の高いポーズ仮説を選定し、選定したポーズ仮説を情報処理装置のポーズとして出力する処理を実行する構成であることを特徴とする請求項１に記載の情報処理装置。 The data processing unit
Based on the newly acquired image, update processing of the hypothesis probability distribution data is performed, the pose hypothesis having the highest probability value is selected, and the selected pose hypothesis is output as the pose of the information processing apparatus. The information processing apparatus according to claim 1, wherein the information processing apparatus is configured.
複数のポーズ仮説を設定し、前記カメラの取得したイメージに基づく前記仮説確率分布データの更新処理により、より確からしい仮説を選定する多仮説トラッキング（ＭＨＴ：Ｍｕｌｔｉ−ｈｙｐｏｔｈｅｓｉｓ Ｔｒａｃｋｉｎｇ）処理を実行する構成であることを特徴とする請求項１に記載の情報処理装置。 The data processing unit
A configuration in which a plurality of pose hypotheses are set, and a multi-hypothesis tracking (MHT) process for selecting a more probable hypothesis is performed by updating the hypothesis probability distribution data based on an image acquired by the camera. The information processing apparatus according to claim 1, wherein the information processing apparatus is provided.
複数のポーズ仮説［Ｈｉ］の各々について、仮説Ｈｉをサポートするに十分なイメージ［ｚ］に基づくポーズ候補［Ｃｊ］存在する場合は、ポーズ仮説確率分布データにおける前記仮説［Ｈｉ］が真の下で取得イメージ［ｚ］が真であると判定される確率値Ｐ（ｚ｜Ｈｉ）を高くする更新を実行し、
ポーズ仮説［Ｈｉ］をサポートするに十分なイメージ［ｚ］に基づくポーズ候補［Ｃｊ］が存在しない場合は、前記確率値Ｐ（ｚ｜Ｈｉ）を低くする更新処理を実行し、
前記確率値Ｐ（ｚ｜Ｈｉ）と前記仮説［Ｈｉ］の確率値Ｐ（Ｈｉ）に基づいて，取得イメージ［ｚ］が真の下で仮説Ｈｉが真である確率値Ｐ（Ｈｉ｜ｚ）を求め、それを元に前記仮説Ｈｉの確率Ｐ（Ｈｉ）を更新する構成であることを特徴とする請求項３に記載の情報処理装置。 The data processing unit
For each of a plurality of pose hypotheses [H i ], if there are pose candidates [C j ] based on an image [z] sufficient to support the hypothesis H i , the hypotheses [H i ] in the pose hypothesis probability distribution data Performing an update to increase the probability value P (z | H i ) that is determined to be true and the acquired image [z] is true,
If there is no pose candidate [C j ] based on the image [z] sufficient to support the pose hypothesis [H i ], an update process is performed to lower the probability value P (z | H i ),
Based on the probability value P (z | H i ) and the probability value P (H i ) of the hypothesis [H i ], the probability value P () where the acquired image [z] is true and the hypothesis H i is true. The information processing apparatus according to claim 3, wherein H i | z) is obtained, and the probability P (H i ) of the hypothesis H i is updated based on the obtained H i | z).
前記候補確率分布データに基づく仮説確率分布データの算出処理をカルマン・フィルタによる仮説更新処理に従って実行する構成であることを特徴とする請求項１に記載の情報処理装置。 The data processing unit
The information processing apparatus according to claim 1, wherein the hypothesis probability distribution data calculation process based on the candidate probability distribution data is executed according to a hypothesis update process using a Kalman filter.
前記候補確率分布データに基づく仮説確率分布データの算出処理をパーティクル・フィルタによる仮説更新処理に従って実行する構成であることを特徴とする請求項１に記載の情報処理装置。 The data processing unit
The information processing apparatus according to claim 1, wherein the calculation process of hypothesis probability distribution data based on the candidate probability distribution data is configured to execute according to a hypothesis update process using a particle filter.
前記カメラの取得した取得イメージと前記参照用イメージとのイメージ・マッチングにより対応する特徴点情報を取得し、該対応特徴点情報に基づいてスコア算出を行なう構成であることを特徴とする請求項１に記載の情報処理装置。 The data processing unit
2. The structure of acquiring corresponding feature point information by image matching between the acquired image acquired by the camera and the reference image, and calculating a score based on the corresponding feature point information. The information processing apparatus described in 1.
ハリスコーナーディテクター（Ｈａｒｒｉｓ Ｃｏｒｎｅｒ Ｄｅｔｅｃｔｏｒ）を用いた特徴点抽出処理を実行する構成であることを特徴とする請求項７に記載の情報処理装置。 The data processing unit
The information processing apparatus according to claim 7, wherein the information processing apparatus is configured to perform a feature point extraction process using a Harris Corner Detector (Harris Corner Detector).
前記イメージ・マッチング処理により算出するスコアが予め定めたスコア閾値以上の参照用イメージのみを選択して、選択イメージに基づく自己位置もしくは自己姿勢の同定処理を実行する構成であることを特徴とする請求項１記載の情報処理装置。 The data processing unit
The configuration is such that only a reference image whose score calculated by the image matching process is equal to or higher than a predetermined score threshold value is selected, and a self-position or self-posture identification process based on the selected image is executed. Item 6. The information processing apparatus according to Item 1.
ポーズ仮説の初期設定を実行し、取得イメージに基づいて生成される新規ポーズ仮説と、設定済みのポーズ仮説との合成処理を実行して、ポーズ仮説の更新を行なう構成であることを特徴とする請求項１記載の情報処理装置。 The data processing unit
The initial configuration of the pose hypothesis is executed, and the pose hypothesis is updated by executing a synthesis process of the new pose hypothesis generated based on the acquired image and the set pose hypothesis. The information processing apparatus according to claim 1.
ポーズ仮説の確率値に対応する閾値を設定し、前記仮説確率分布データに含まれる最高確率のポーズ仮説と前記閾値とを比較し、最高確率のポーズ仮説が前記閾値より上である場合、該最高確率のポーズ仮説を情報処理装置のポーズとして出力する処理を実行する構成であることを特徴とする請求項１記載の情報処理装置。 The data processing unit
A threshold corresponding to the probability value of the pose hypothesis is set, the highest probability pose hypothesis included in the hypothesis probability distribution data is compared with the threshold, and if the highest probability pose hypothesis is above the threshold, the highest The information processing apparatus according to claim 1, wherein the information processing apparatus is configured to execute a process of outputting a probability pose hypothesis as a pose of the information processing apparatus.
カメラが、情報処理装置周囲のイメージ（画像）を撮影するイメージ取得ステップと、
データ処理部が、前記カメラの取得したイメージを適用して情報処理装置の自己位置もしくは自己姿勢の同定処理を実行するデータ処理ステップを有し、
前記データ処理ステップは、
前記カメラの取得した取得イメージと、参照用イメージとのイメージ・マッチング処理により、一致度の高い参照用イメージに対して高スコアを設定するスコア算出を実行して、算出スコアに基づいて情報処理装置のポーズ候補の確率分布である候補確率分布データを算出する候補確率分布データ算出処理と、
前記候補確率分布データに基づくデータ変換処理により情報処理装置のポーズ仮説に対応する確率分布である仮説確率分布データを算出する仮説確率分布データ算出処理を実行することを特徴とする情報処理方法。 An information processing method for executing identification processing of self position or self posture in an information processing device,
An image acquisition step in which the camera captures an image (image) around the information processing apparatus;
The data processing unit has a data processing step of executing the identification processing of the self position or the self posture of the information processing device by applying the image acquired by the camera,
The data processing step includes
An information processing apparatus that executes score calculation for setting a high score for a reference image having a high degree of matching by performing an image matching process between the acquired image acquired by the camera and the reference image. Candidate probability distribution data calculation processing for calculating candidate probability distribution data that is a probability distribution of pose candidates of
A hypothesis probability distribution data calculation process for calculating hypothesis probability distribution data which is a probability distribution corresponding to a pose hypothesis of an information processing device by a data conversion process based on the candidate probability distribution data.
新たに取得するイメージに基づいて、前記仮説確率分布データの更新処理を実行して、最も確率値の高いポーズ仮説を選定し、選定したポーズ仮説を情報処理装置のポーズとして出力する処理を実行することを特徴とする請求項１２に記載の情報処理方法。 The data processing step further includes:
Based on the newly acquired image, update processing of the hypothesis probability distribution data is performed, the pose hypothesis having the highest probability value is selected, and the selected pose hypothesis is output as the pose of the information processing apparatus. The information processing method according to claim 12.
複数のポーズ仮説を設定し、前記カメラの取得したイメージに基づく前記仮説確率分布データの更新処理により、より確からしい仮説を選定する多仮説トラッキング（ＭＨＴ：Ｍｕｌｔｉ−ｈｙｐｏｔｈｅｓｉｓ Ｔｒａｃｋｉｎｇ）処理を実行することを特徴とする請求項１２に記載の情報処理方法。 The data processing step includes
A plurality of pose hypotheses are set, and a multi-hypothesis tracking (MHT) process for selecting a more probable hypothesis by executing an update process of the hypothesis probability distribution data based on an image acquired by the camera is performed. The information processing method according to claim 12, wherein
複数のポーズ仮説［Ｈｉ］の各々について、ポーズ仮説Ｈｉをサポートするに十分なイメージ［ｚ］に基づくポーズ候補［Ｃｊ］存在する場合は、仮説確率分布データにおける前記仮説［Ｈｉ］が真の下で取得イメージ［ｚ］が真であると判定される確率値Ｐ（ｚ｜Ｈｉ）を高くする更新を実行し、
ポーズ仮説［Ｈｉ］をサポートするに十分なイメージ［ｚ］に基づくポーズ候補［Ｃｊ］が存在しない場合は、前記確率値Ｐ（ｚ｜Ｈｉ）を低くする更新処理を実行し、
前記確率値Ｐ（ｚ｜Ｈｉ）と前記仮説［Ｈｉ］の確率値Ｐ（Ｈｉ）に基づき「取得イメージ［ｚ］が真の下で、仮説Ｈｉが真である確率値」Ｐ（Ｈｉ｜ｚ）を求め、それを元に前記仮説Ｈｉの確率Ｐ（Ｈｉ）を更新することを特徴とする請求項１４に記載の情報処理方法。 The data processing step includes
For each of a plurality of pose hypotheses [H i ], if there are pose candidates [C j ] based on an image [z] sufficient to support the pose hypothesis H i , the hypothesis [H i ] in the hypothesis probability distribution data is present. Performing an update to increase the probability value P (z | H i ) that is determined to be true and the acquired image [z] is true,
If there is no pose candidate [C j ] based on the image [z] sufficient to support the pose hypothesis [H i ], an update process is performed to lower the probability value P (z | H i ),
Based on the probability value P (z | H i ) and the probability value P (H i ) of the hypothesis [H i ], the “probability value that the acquired image [z] is true and the hypothesis H i is true” P The information processing method according to claim 14, wherein (H i | z) is obtained and the probability P (H i ) of the hypothesis H i is updated based on the obtained value.
前記候補確率分布データに基づく仮説確率分布データの算出処理をカルマン・フィルタによる仮説更新処理に従って実行することを特徴とする請求項１２に記載の情報処理方法。 The data processing step includes
13. The information processing method according to claim 12, wherein a calculation process of hypothesis probability distribution data based on the candidate probability distribution data is executed according to a hypothesis update process using a Kalman filter.
前記候補確率分布データに基づく仮説確率分布データの算出処理をパーティクル・フィルタによる仮説更新処理に従って実行することを特徴とする請求項１２に記載の情報処理方法。 The data processing step includes
13. The information processing method according to claim 12, wherein a calculation process of hypothesis probability distribution data based on the candidate probability distribution data is executed according to a hypothesis update process using a particle filter.
前記カメラの取得した取得イメージと前記参照用イメージとのイメージ・マッチングにより対応する特徴点情報を取得し、該対応特徴点情報に基づいてスコア算出を行なうことを特徴とする請求項１２に記載の情報処理方法。 The data processing step includes
The corresponding feature point information is acquired by image matching between the acquired image acquired by the camera and the reference image, and the score is calculated based on the corresponding feature point information. Information processing method.
ハリスコーナーディテクター（Ｈａｒｒｉｓ Ｃｏｒｎｅｒ Ｄｅｔｅｃｔｏｒ）を用いた特徴点抽出処理を実行することを特徴とする請求項１８に記載の情報処理方法。 The data processing step includes
The information processing method according to claim 18, wherein a feature point extraction process using a Harris Corner Detector is performed.
カメラに、情報処理装置周囲のイメージ（画像）を撮影させるイメージ取得ステップと、
データ処理部に、前記カメラの取得したイメージを適用して情報処理装置の自己位置もしくは自己姿勢の同定処理を実行させるデータ処理ステップを有し、
前記データ処理ステップは、
前記カメラの取得した取得イメージと、参照用イメージとのイメージ・マッチング処理により、一致度の高い参照用イメージに対して高スコアを設定するスコア算出を実行させて、算出スコアに基づいて情報処理装置のポーズ候補の確率分布である候補確率分布データを算出させる候補確率分布データ算出処理と、
前記候補確率分布データに基づくデータ変換処理により情報処理装置のポーズ仮説に対応する確率分布である仮説確率分布データを算出する仮説確率分布データ算出処理を実行させるステップであることを特徴とするコンピュータ・プログラム。 A computer program that causes an information processing device to execute self-position or self-position identification processing,
An image acquisition step for causing the camera to take an image (image) around the information processing apparatus;
The data processing unit has a data processing step of performing identification processing of the self-position or self-position of the information processing device by applying the image acquired by the camera,
The data processing step includes
By performing image matching processing between the acquired image acquired by the camera and the reference image, score calculation is performed to set a high score for the reference image having a high degree of coincidence, and the information processing apparatus is based on the calculated score Candidate probability distribution data calculation processing for calculating candidate probability distribution data that is a probability distribution of pose candidates of
A step of executing hypothesis probability distribution data calculation processing for calculating hypothesis probability distribution data which is a probability distribution corresponding to a pose hypothesis of the information processing apparatus by data conversion processing based on the candidate probability distribution data; program.
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| JP5471626B2 (en) | 2010-03-09 | 2014-04-16 | ソニー株式会社 | Information processing apparatus, map update method, program, and information processing system |
| US8965057B2 (en) | 2012-03-02 | 2015-02-24 | Qualcomm Incorporated | Scene structure-based self-pose estimation |
| JP5867176B2 (en) * | 2012-03-06 | 2016-02-24 | 日産自動車株式会社 | Moving object position and orientation estimation apparatus and method |
| JP6685234B2 (en) * | 2014-03-28 | 2020-04-22 | シグニファイ ホールディング ビー ヴィＳｉｇｎｉｆｙ Ｈｏｌｄｉｎｇ Ｂ．Ｖ． | Localization of portable device based on coded light |
| KR101745626B1 (en) | 2016-11-21 | 2017-06-09 | 아이씨티웨이주식회사 | Apparatus and method for location-information |
| US11145083B2 (en) | 2019-05-21 | 2021-10-12 | Microsoft Technology Licensing, Llc | Image-based localization |
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| JP3968501B2 (en) * | 2001-11-30 | 2007-08-29 | ソニー株式会社 | Robot self-position identification system and self-position identification method |
| KR100776215B1 (en) * | 2005-01-25 | 2007-11-16 | 삼성전자주식회사 | Apparatus and method for estimating location and generating map of mobile body, using upper image, computer-readable recording media storing computer program controlling the apparatus |
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