JP2011185897A - Object information detection system, information detection method, and program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an object information detection system, an information detection method, and a program, which detect relative positions and postures of an object and a marker, with high accuracy. <P>SOLUTION: The object information detection system 1 is equipped with: a shape detecting means for detecting shape an information on an object in each of its postures; a marker detecting means for detecting position and posture information on a marker disposed on the object; and a position and posture calculating means for calculating the relative positions and postures of the object and the marker on the basis of the shape information on the object as detected by the shape detecting means and the position and posture information on the marker as detected by the marker detecting means. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to an object information detection system, an information detection method, and a program for detecting a relative position and posture between an object and a marker placed on the object.

  When the shape of an object is measured using a measurement sensor or the like and the position and orientation of the object are obtained based on the measured values, the measurement accuracy may be greatly affected by the shape of the object. On the other hand, a three-dimensional position / orientation sensing device that captures a marker placed on an object and estimates the position and orientation of the object based on a captured image of the marker is known (for example, Patent Document 1). reference).

JP 2000-227309 A

  By the way, the three-dimensional position and orientation sensing device estimates the position and orientation of the object using the relative position and orientation of the object and the marker measured in advance. However, there is a possibility that an error occurs in the relative position and orientation between the object and the marker at the time of measurement, which may reduce the accuracy of the position and orientation of the object estimated based on the relative position and orientation. is there.

  The present invention has been made to solve such problems, and provides an object information detection system, an information detection method, and a program that can detect the relative position and orientation of an object and a marker with high accuracy. The main purpose.

  In order to achieve the above object, one aspect of the present invention includes a shape detection unit that detects shape information of an object in a plurality of postures, and a marker that detects position and posture information of a marker disposed on the object. Based on the detection means, the shape information of the object detected by the shape detection means, and the position and orientation information of the marker detected by the marker detection means, the relative between the object and the marker An object information detection system comprising: a position and orientation calculation means for calculating a position and orientation.

  Further, in this aspect, a moving unit that moves the object, a measuring unit that measures a shape of the object that is moved by the moving unit, and a photographing unit that photographs the object that is moved by the moving unit; The shape detecting means detects shape information of the object based on the measurement result of the object measured by the measuring means, and the marker detecting means is photographed by the photographing means. The marker position and orientation information may be detected based on the captured image of the marker.

  Furthermore, in this aspect, the image processing apparatus may further include a storage unit that stores a relative position and posture between the object and the marker calculated by the position / orientation calculation unit.

  On the other hand, one aspect of the present invention for achieving the above object is a step of detecting shape information of an object in a plurality of postures, and a step of detecting position information and posture information of markers arranged on the object, respectively. And calculating the relative position and orientation of the object and the marker based on the detected shape information of the object and the position and orientation information of the detected marker. The information detection method characterized by this may be used.

  Further, according to one aspect of the present invention for achieving the above object, a process for detecting shape information of an object in a plurality of postures, and a process for detecting position information and posture information of markers arranged on the object, respectively. And processing for calculating a relative position and orientation of the target object and the marker based on the detected shape information of the target object and position and orientation information of the detected marker. It may be a program to be executed.

  Furthermore, one mode of the present invention for achieving the above object is to provide a three-dimensional shape detection processing unit that detects shape information of an object in a plurality of postures, and a position and posture of a code marker disposed on the object. A code marker detection processing unit for detecting information; shape information of the object detected by the three-dimensional shape detection processing unit; and position and orientation information of the code marker detected by the code marker detection processing unit; And a relative position / orientation calculation unit that calculates a relative position and orientation between the object and the code marker.

  ADVANTAGE OF THE INVENTION According to this invention, the object information detection system, the information detection method, and program which detect the relative position and attitude | position of a target object and a marker with high precision can be provided.

1 is a block diagram showing a schematic configuration of an object information detection system according to an embodiment of the present invention. It is a figure which shows an example of the three-dimensional coordinate system expressing the three-dimensional shape of a target object, and the position and attitude | position of each code marker. It is a flowchart which shows an example of the processing flow of the object information detection system which concerns on one embodiment of this invention.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing a schematic configuration of an object information detection system according to an embodiment of the present invention. The object information detection system 1 according to the present embodiment can detect the relative position and posture of an object 10 having an arbitrary shape and a marker 11 such as a plurality of code markers arranged on the object 10 with high accuracy. Is. The object information detection system 1 includes a rotation device 2, a three-dimensional shape measurement device 3, a three-dimensional shape detection processing unit 4, a photographing device 5, a code marker detection processing unit 6, a relative position and orientation calculation unit 7, And an object information storage unit 8.

  The object information detection system 1 includes, for example, a CPU (Central Processing Unit) that performs control processing, arithmetic processing, and the like, a ROM (Read Only Memory) that stores a control program executed by the CPU, an arithmetic program, and the like. A hardware configuration is provided centering on a microcomputer having a RAM (Random Access Memory) for storing processing data and the like.

  The rotating device 2 is a specific example of a moving unit, and the object 10 to be measured is placed on the upper surface thereof, and the object 10 can be rotated and moved clockwise or counterclockwise. The rotating device 2 rotates the object 10 clockwise or counterclockwise. However, the rotating device 2 is not limited to this, and the object 10 may be moved in any direction as long as photographing or measurement described later is possible. .

  Here, as the object 10, for example, a rectangular parallelepiped object is used, and the code marker 11 is arranged on each side of the rectangular parallelepiped, but the shape of the object 10 is not limited to this, and may be an arbitrary shape. Further, the position and number of the code markers 11 arranged on the object 10 may be arbitrary. Furthermore, the code marker 11 has, for example, a rectangular shape, and the code is formed in a lattice pattern. However, the code marker 11 is not limited to this, and any shape such as a circular shape or a square shape can be used as long as the code marker 11 can be properly recognized. The cord may also be formed in an arbitrary pattern.

  The three-dimensional shape measuring device 3 is a specific example of a measuring unit, and can measure the three-dimensional shape of the target object 10 that is placed on the rotating device 2 and rotates and moves. The three-dimensional shape measurement apparatus 3 can measure the three-dimensional shape of the target object 10 by scanning the outer surface of the target object 10 using a measurement sensor such as a laser sensor, a radar sensor, or an ultrasonic sensor. In the present embodiment, the three-dimensional shape of the object 10 may be measured using the photographing device 5 instead of using the three-dimensional shape measuring device 3. The three-dimensional shape measurement apparatus 3 outputs measurement data of the three-dimensional shape of the measured object 10 to the three-dimensional shape detection processing unit 4.

The three-dimensional shape detection processing unit 4 is a specific example of the shape detection unit, and performs a plurality of well-known arithmetic processes based on the three-dimensional shape measurement data of the object 10 measured by the three-dimensional shape measurement apparatus 3. The three-dimensional shape of the object 10 in the posture can be detected. Here, the three-dimensional shape detection processing section 4, the three-dimensional shape of the object 10, a predetermined position (e.g., such as the position of the corner and the measuring sensor of the object 10) 3-dimensional coordinate system with the origin O _n the ( x _n , y _n , z _n ) (FIG. 2). The three-dimensional shape detection processing unit 4 outputs the three-dimensional shape of the object 10 expressed in a three-dimensional coordinate system to the relative position / orientation calculation unit 7.

  The imaging device 5 is a specific example of imaging means, and can image a plurality of code markers 11 placed on the object 10 that is placed on the rotating device 2 and rotates. The imaging device 5 captures each code marker 11 of the object 10 using, for example, a stereo camera and outputs the captured image to the code marker detection processing unit 6. In the present embodiment, each code marker 11 on each object 10 is measured using the three-dimensional shape measuring device 3 instead of using the imaging device 5, and the code marker detection processing unit 6 is described later. Based on the measured value of the code marker 11, the position and orientation of each code marker 11 may be detected.

The code marker detection processing unit 6 is a specific example of the marker detection unit, and is arranged on the object 10 by performing known image processing on the captured image of each code marker 11 captured by the imaging device 5. The position and orientation of each code marker 11 can be detected. Here, similarly to the three-dimensional shape of the object 10, the code marker detection processing unit 6 sets the position and orientation of each code marker 11 to a predetermined position (for example, the corner of each code marker 11 or the imaging device 5. The position is detected in a three-dimensional coordinate system (x _m , y _m , z _m ) with the origin O _m as the origin. The code marker detection processing unit 6 outputs the position and orientation of each code marker 11 expressed in a three-dimensional coordinate system to the relative position and orientation calculation unit 7.

  The relative position / orientation calculation unit 7 is a specific example of the position / orientation calculation unit, and the three-dimensional shape of the object 10 detected by the three-dimensional shape detection processing unit 4 and each of the detections by the code marker detection processing unit 6. Based on the position and orientation of the code marker 11, the relative position and orientation of the object 10 and each code marker 11 are calculated.

  The relative position / orientation calculation unit 7 is, for example, a three-dimensional coordinate in which a three-dimensional coordinate system that represents the three-dimensional shape of the object 10 and a three-dimensional coordinate system that represents the position and orientation of each code marker 11 are matched. The relative position and orientation of the object 10 and each code marker 11 in the system are calculated. Thereby, the relative position and attitude | position of the target object 10 and each code marker 11 arrange | positioned at this target object 10 are detectable with high precision. In addition, by simultaneously obtaining the three-dimensional shape of the object 10 and the position and orientation of each code marker 11, and automatically calculating the relative position and orientation of the object 10 and each code marker 11, a measurement object Even when the number of target objects 10 increases, the amount of processing required for the calculation can be efficiently reduced. The relative position / orientation calculation unit 7 sequentially outputs the calculated relative position and orientation between the target object 10 and each code marker 11 to the object information storage unit 8.

  The object information storage unit 8 is a specific example of a storage unit, and includes, for example, a magnetic disk device, an optical disk device, a RAM, and the like. The object information storage unit 8 stores the relative position and orientation of the target object 10 and each code marker 11 output from the relative position and orientation calculation unit 7 in a database. Thereby, the user can acquire the relative position and attitude | position of the required target object 10 and each code marker 11 from the database of the object information storage part 8 with high precision and high speed.

  By the way, conventionally, when measuring the relative position and orientation of the object and the code marker, there is a possibility that accuracy may be reduced due to a measurement error or the like. In addition, since it is necessary to measure the relative position and orientation between the object and the code marker for each code marker, the processing efficiency may decrease, and the processing amount of the measurement increases as the number of objects increases. There is also a possibility to do.

  Therefore, in the object information detection system 1 according to the present embodiment, as described above, the relative position / orientation calculation unit 7 detects the three-dimensional shape of the object 10 detected by the three-dimensional shape detection processing unit 4 and the code marker detection. Based on the position and orientation of each code marker 11 detected by the processing unit 6, the relative position and orientation between the object 10 and each code marker 11 are calculated. Thereby, the relative position and attitude | position of the target object 10 and each code marker 11 are detectable with high precision. Moreover, the relative position and attitude | position of the target object 10 and each code marker 11 can be detected by one process, and the improvement of processing efficiency can also be anticipated.

  A detection method of the object information detection system according to the present embodiment will be described in detail. FIG. 3 is a flowchart showing an example of a processing flow of the object information detection system according to the present embodiment.

  First, the three-dimensional shape measuring device 3 measures the three-dimensional shape of the target object 10 that is placed on the rotating device 2 and rotates and moves (Step S101). Output to the dimensional shape detection processing unit 4.

Next, the three-dimensional shape detection processing unit 4 performs a well-known calculation process based on the measurement data of the three-dimensional shape of the object 10 measured by the three-dimensional shape measurement apparatus 3, and obtains the three-dimensional shape of the object 10. It is detected in the three-dimensional coordinate system (x _n , y _n , z _n ) (step S102) and output to the relative position / orientation calculation unit 7.

  In addition, the photographing device 5 photographs each code marker 11 placed on the object 10 that is placed on the rotating device 2 and rotates (Step S103), and outputs the photographed image to the code marker detection processing unit 6. To do.

Next, the code marker detection processing unit 6 performs known image processing on the captured image of each code marker 11 photographed by the photographing device 5, so that the position of each code marker 11 disposed on the target object 10. And the posture are detected in the three-dimensional coordinate system (x _m , y _m , z _m ) (step S104) and output to the relative position and posture calculation unit 7. Note that the above (Step S101) and (Step S102) and (Step S103) and (Step S104) are performed in parallel.

  Thereafter, the relative position and orientation calculation unit 7 includes the three-dimensional shape of the object 10 detected by the three-dimensional shape detection processing unit 4, the position and posture of each code marker 11 detected by the code marker detection processing unit 6, and The three-dimensional coordinate system representing the three-dimensional shape of the target object 10 and the three-dimensional coordinate system representing the position and orientation of each code marker 11 are matched in the three-dimensional coordinate system. And the relative position and orientation of each code marker 11 (step S105) and sequentially output to the object information storage unit 8.

  And the object information storage part 8 memorize | stores the relative position and attitude | position of the target object 10 and each code marker 11 which are output from the relative position attitude | position calculation part 7 in a database (step S106).

  As described above, in the object information detection system 1 according to the present embodiment, the relative position / orientation calculation unit 7 uses the three-dimensional shape of the object 10 detected by the three-dimensional shape detection processing unit 4 and the code marker detection processing unit 6. Based on the detected position and orientation of each code marker 11, the relative position and orientation of the object 10 and each code marker 11 are calculated. Thereby, the relative position and attitude | position of the target object 10 and each code marker 11 are detectable with high precision.

  Note that the present invention is not limited to the above-described embodiment, and can be changed as appropriate without departing from the spirit of the present invention.

  For example, in the above-described embodiment, the three-dimensional shape measuring device 3 and the photographing device 5 are fixed and the object 10 is moved by the rotating device 2. However, the present invention is not limited to this. The measuring device 3 and the photographing device 5 may be moved.

  In the embodiment, the processing shown in FIG. 3 can be realized by causing the CPU to execute a computer program. In this case, the computer program can be provided by being recorded on a recording medium, or can be provided by being transmitted via the Internet or another communication medium.

  Further, the storage medium includes, for example, a flexible disk, a hard disk, a magnetic disk, a magneto-optical disk, a CD-ROM, a DVD, a ROM cartridge, a battery-backed RAM memory cartridge, a flash memory cartridge, and a nonvolatile RAM cartridge. Furthermore, the communication medium includes a wired communication medium such as a telephone line, a wireless communication medium such as a microwave line, and the like.

  The present invention is applicable to, for example, an object information detection system, an information detection method, and a program that calculate the relative position and orientation of a measurement object and a plurality of code markers arranged on the measurement object.

DESCRIPTION OF SYMBOLS 1 Object information detection system 2 Rotating device 3 3D shape measuring device 4 3D shape detection processing part 5 Imaging device 6 Code marker detection processing part 7 Relative position and orientation calculation part 8 Object information storage part

Claims (6)

Shape detecting means for detecting shape information of the object in a plurality of postures, respectively;
Marker detection means for detecting the position and orientation information of the markers arranged on the object,
Based on the shape information of the object detected by the shape detection means and the position and orientation information of the marker detected by the marker detection means, the relative position and orientation of the object and the marker are determined. An object information detection system comprising: a position and orientation calculation means for calculating. The object information detection system according to claim 1,
Moving means for moving the object;
Measuring means for measuring the shape of the object moved by the moving means;
Photographing means for photographing the object moved by the moving means,
The shape detecting means detects shape information of the object based on a measurement result of the object measured by the measuring means,
The said marker detection means detects the position and attitude | position information of the said marker based on the picked-up image of the said marker image | photographed by the said imaging means, The object information detection system characterized by the above-mentioned. The object information detection system according to claim 1 or 2,
An object information detection system further comprising storage means for storing a relative position and orientation between the object and the marker calculated by the position and orientation calculation means. Detecting each of the shape information of the object in a plurality of postures;
Detecting each of the position and orientation information of the marker disposed on the object;
Calculating the relative position and orientation of the object and the marker based on the detected shape information of the object and the position and orientation information of the detected marker. Characteristic information detection method. A process of detecting shape information of the object in a plurality of postures,
A process of detecting the position and orientation information of the marker arranged on the object, respectively;
Based on the detected shape information of the object and the detected position and orientation information of the marker, the computer executes a process of calculating a relative position and orientation of the object and the marker. program. A three-dimensional shape detection processing unit that respectively detects shape information of the object in a plurality of postures;
A code marker detection processing unit for detecting position and orientation information of the code marker arranged on the object, respectively;
Based on the shape information of the object detected by the three-dimensional shape detection processing unit and the position and orientation information of the code marker detected by the code marker detection processing unit, the object and the marker code A relative position / orientation calculating unit that calculates a relative position and orientation relative to the object information detection system.

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