JP2012190279A - Information processing system, information processing device and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an image processing system for calibrating between imaging devices.SOLUTION: An image processing system includes: first and second imaging devices; a plurality of objects to be imaged including a plurality of light-emitting elements; an image processing device for processing captured images captured by the first and second imaging devices; and a plurality of communication mediation devices respectively fixed to predetermined positions in imaging spaces imaged by the first and second imaging devices, for mediating communication between the objects to be imaged and the image processing device. The image processing device includes: image acquiring means for acquiring the first and second captured images respectively captured by the first and second imaging devices in a state where light emission control means allows the designated light-emitting elements of the objects to be imaged to emit light; and update means for updating information that specifies a correspondence relationship between first and second coordinate systems so that positions of the light-emitting elements in the first coordinate system set in the first captured image correspond to positions of the light-emitting elements in the second coordinate system set in the second captured image, respectively.

Description

  The present invention relates to an information processing system, an information processing apparatus, and a program.

  2. Description of the Related Art In recent years, a position measurement system that uses an object such as a card provided with identification information such as ID (Identification) to measure the position and angle of the object in a three-dimensional space (such as the direction in which the object is facing). Research has been done.

  For example, in Patent Document 1, in a recognition system that performs object position recognition and individual identification, a light emitter that is provided on the object and generates a pattern for position recognition and a pattern for individual identification by light emission is generated. An image pickup device for picking up an image of the picked up pattern and an image processing device for processing the image of the picked up pattern, wherein the light emitter is composed of a plurality of light emitters, and the individual of the plurality of light emitters A light emitting unit for generating an identification pattern is arranged inside a figure formed by the light emitting unit for generating the position recognition pattern, and the individual identification pattern is asymmetric with respect to an arbitrary rotation angle. The recognition system is characterized in that it generates a pattern and detects the traveling direction of the object based on the direction of the generated pattern for individual identification. To have.

  Further, in Patent Document 2, the positional relationship between the first reference points that are three points on the plane arranged on the object, and the second reference point that is one point at a certain distance from the plane. A storage unit that stores a positional relationship with the first reference point and a positional relationship between a third reference point arranged on the plane and the first reference point, and an imaging unit that captures the reference point of the object And an image of the first reference point, an image of the second reference point, and an image of the third reference point by using an affine invariant from the positional relationship of the image of the reference point imaged by the imaging unit. The positional relationship between the first reference point and the positional relationship between the second reference point and the first reference point is read from the storage unit and the identification unit that identifies the positional reference and the image capturing unit. From the positional relationship of the image of the reference point, the first reference point of the third reference point The positional relationship between the arithmetic unit that calculates the positional relationship between the first reference point and the third reference point stored in the storage unit is read out, and the positional reference and the third reference point calculated by the arithmetic unit And a recognition unit that compares the positional relationship with the first reference point and recognizes the object.

JP 2001-307072 A JP 2009-92568 A

  By the way, position information (hereinafter referred to as three-dimensional position information) such as a position in the three-dimensional space and a three-axis angle (roll angle, pitch angle, yaw angle) of the object to be picked up based on a picked-up image of the object to be picked up. In a position measurement system for measurement, it is considered necessary to periodically calibrate between a plurality of imaging devices in order to maintain measurement accuracy. However, the normal calibration requires a special calibration device and requires a lot of labor, labor, and time, and it is difficult to perform calibration again in the position measurement system once installed.

  An object of the present invention is to provide a position of a light-emitting element of a specified object to be captured in a first coordinate system set in a first captured image captured by a first imaging device among a plurality of imaging devices, and a plurality of imaging devices. The position of the light emitting element of the specified imaging object in the second coordinate system set in the second captured image captured by the second imaging device among the imaging devices of the first imaging device corresponds to the first imaging device. The present invention provides an image processing system that updates information defining the correspondence between the coordinate system and the second coordinate system and calibrates between a plurality of imaging devices.

  In order to achieve the above object, the invention described in claim 1 includes first and second imaging devices, at least one light emitting element, and a control circuit for controlling light emission of each light emitting element. Each of three or more objects to be imaged, an image processing device that processes a captured image captured by the first and second imaging devices, and an imaging space captured by the first and second imaging devices, respectively. Three or more communication mediating devices that are fixed at a predetermined position and mediate communication between the control circuit provided in the imaged object and the image processing device, and the three or more imaged objects are respectively The image processing device is arranged to be communicable with the image processing device in any of the three or more communication mediating devices, and the image processing device is provided in the three or more objects to be imaged respectively arranged in the three or more communication mediating devices. Control the light emission of the light emitting element Light emission control means, and first and second imaging images respectively taken by the first and second imaging devices in a state in which the light emitting elements designated by the three or more imaging objects are caused to emit light by the light emission control means. Captured image acquisition means for acquiring an image, the position of the designated light emitting element in the first coordinate system set for the first captured image, and the second coordinate system set for the second captured image Updating means for updating information defining a correspondence relationship between the first coordinate system and the second coordinate system so that the position of the designated light emitting element corresponds to the first coordinate system. An image processing system.

  According to a second aspect of the present invention, the imaging object includes a secondary battery, and a light emitting element provided in the imaging object emits light using power supplied from the secondary battery as a power source, The said communication mediation apparatus contains the charge means which charges the said secondary battery with which the said to-be-photographed object is equipped, when the said to-be-photographed object is arrange | positioned at the said communication mediation apparatus. An image processing system.

  According to a third aspect of the present invention, the image processing apparatus further includes a detection unit that detects a charging state of the secondary battery, and the light emission control unit is configured such that the detection unit charges the secondary battery. 3. The image processing system according to claim 2, wherein the light emission of the light emitting element is controlled after detecting completion of the light emission.

  According to a fourth aspect of the present invention, there are provided three or more imaging targets each including the first and second imaging devices, at least one light emitting element, and a control circuit that controls light emission of each light emitting element. And an image processing device that is fixed at a predetermined position in an imaging space captured by the first and second imaging devices and mediates communication between a control circuit provided in the imaging target and the image processing device An image processing device that is communicably connected to three or more communication mediating devices and processes captured images captured by the first and second imaging devices, and is disposed in each of the three or more communication mediating devices. A light emission control means for controlling light emission of the light emitting elements provided in the three or more imaged objects, and the light emission control means causes the light emitting elements designated by the three or more imaged objects to emit light. 1 and 2 imaging device Captured image acquisition means for acquiring the first and second captured images respectively captured by the first captured image, the position of the designated light emitting element in the first coordinate system set to the first captured image, and the second Information defining the correspondence relationship between the first coordinate system and the second coordinate system is updated so that the position of the designated light emitting element in the second coordinate system set in the captured image corresponds to And an updating means for performing image processing.

  According to a fifth aspect of the present invention, there are provided three or more imaging targets each including first and second imaging devices, at least one light emitting element, and a control circuit that controls light emission of each light emitting element. And an image processing device that is fixed at a predetermined position in an imaging space captured by the first and second imaging devices and mediates communication between a control circuit provided in the imaging target and the image processing device The three or more communication mediating devices that are communicably connected to each other, and the computers that process captured images captured by the first and second imaging devices are respectively arranged in the three or more communication mediating devices. The light emission control means for controlling the light emission of the light emitting element provided in the object to be imaged, and the light emission control means causes the light emitting elements designated by the three or more objects to be imaged to emit light. Depending on the imaging device Captured image acquisition means for acquiring the captured first and second captured images, the position of the designated light emitting element in the first coordinate system set for the first captured image, and the second Information defining the correspondence relationship between the first coordinate system and the second coordinate system is updated so that the position of the designated light emitting element in the second coordinate system set in the captured image corresponds to It is a program for making it function as an update means to perform.

  According to the first, fourth, and fifth aspects of the present invention, the designated image pickup target in the first coordinate system set to the first picked-up image picked up by the first image pickup device among the plurality of image pickup devices. The position of the light emitting element of the object, and the position of the light emitting element of the specified object to be imaged in the second coordinate system set in the second captured image picked up by the second image pickup device among the plurality of image pickup devices The information defining the correspondence between the first coordinate system and the second coordinate system is updated so as to calibrate between a plurality of imaging devices.

  According to the second aspect of the present invention, the object to be imaged is periodically placed on the communication mediating device for charging, and the calibration between the imaging devices is periodically performed as compared with the case where this configuration is not provided. To ensure that

  According to the third aspect of the present invention, when the secondary battery provided in the object to be imaged is arranged in the communication mediating device, the secondary battery is charged and the light emitting element provided in the object to be imaged emits light. Compared with the case where the irradiation amount of the light to be fixed is not constant and this configuration is not provided, the calibration is performed with higher accuracy.

1 is a diagram showing an overall configuration of an information processing system according to the first embodiment. It is a side view showing an example by which an information processing system concerning a first embodiment is arranged. It is a top view of FIG. 1B. It is a top view which shows an example of a structure of the to-be-photographed object in 1st embodiment. It is sectional drawing of the to-be-imaged object in the cutting line 2B-2B in FIG. 2A. It is sectional drawing of the to-be-imaged object in the cutting line 2C-2C in FIG. 2A. It is a block diagram which shows the main structural examples of the image processing apparatus in 1st embodiment. It is a figure which shows an example of the 1st captured image which the 1st imaging device imaged. FIG. 4B is a diagram illustrating an example of a second captured image captured by the second imaging device. It is a figure which shows the coordinate position on the captured image by which the light emitting element memorize | stored in the memory | storage part was imaged. The figure which shows the coordinate position on the captured image by which the light emitting element memorize | stored in the memory | storage part shown by FIG. 5 was imaged is a figure which shows a mode that it updated. The position of the designated light emitting element in the first coordinate system set for the first captured image and the second set for the second captured image, performed by the control unit of the image processing apparatus according to the first embodiment. It is explanatory drawing showing an example of the process which updates the information which prescribes | regulates the correspondence of a 1st coordinate system and a 2nd coordinate system so that the position of the designated light emitting element in a coordinate system may respond | correspond. It is a block diagram which shows the main structural examples of the image processing apparatus in 2nd embodiment. It is a top view which shows an example of a structure of the to-be-photographed object concerning 3rd embodiment. It is a block diagram which shows the main structural examples of the image processing apparatus in 3rd embodiment. It is explanatory drawing showing an example of the process which the control part of the image processing apparatus concerning 3rd embodiment performs.

[First embodiment]
The information processing system according to the first embodiment of the present invention will be described below with reference to the drawings.

  FIG. 1A is a diagram illustrating an overall configuration of an information processing system 1 according to the first embodiment. As shown in FIG. 1, the information processing system 1 includes first and second imaging devices 2A and 2B, at least one light emitting element 30 and a control circuit 31 that controls light emission of each light emitting element 30. Three or more objects to be imaged 3 provided respectively, an image processing device 4 for processing captured images captured by the first and second imaging devices 2A and 2B, and a first and second imaging devices 2A and 2B Including three or more communication mediating devices 5 that are fixed at predetermined positions in the imaging space to be imaged and mediate communication between the control circuit 31 provided in the imaging target 3 and the image processing device 4. It is configured. Each imaging device 2, each communication mediating device 5, and the image processing device 4 are connected via a network (such as a LAN) and can communicate with each other.

  FIG. 1B is a side view showing an example in which the information processing system 1 according to the first embodiment is arranged. FIG. 1C is a plan view of FIG. 1B.

  The image pickup object 3 and the image pickup apparatus 2 constituting the information processing system 1 according to the first embodiment usually use the image pickup object 3 such as a card to which identification information such as ID (Identification) is given, and the image pickup object. 3 is used in a position measurement system that measures the position and angle in the three-dimensional space (the direction in which the object to be imaged 3 is facing). For example, the position measurement system attaches the object to be imaged 3 to a part of the body of the worker and measures the position information of the object to be imaged 3 to determine whether the work performed by the worker is appropriate. This is used for evaluating the above.

  As shown in FIGS. 1B and 1C, each of the communication mediating devices 5 of the image processing system 1 according to the first embodiment is not imaged by the imaging devices 2A and 2B in the imaging spaces 7A and 7B in the imaging devices 2A and 2B. Distributed in a part of the space adjacent to the space. In addition, each of the communication mediating devices 5 is placed on a desk 8 that is a work table of an operator. In addition, each of the imaging devices 2 is attached to a position where the entire area of the worker's work area (area indicated by reference numerals 7A and 7B) is attached to the gantry 9 is imaged.

  Based on the picked-up image of the picked-up object 3, position information (hereinafter referred to as three-dimensional position information) such as the position and three-axis angle (roll angle, pitch angle, yaw angle) of the picked-up object 3 in the three-dimensional space In a position measurement system for measurement, it is necessary to periodically calibrate between a plurality of imaging devices in order to maintain measurement accuracy. However, the conventional calibration method requires special calibration equipment, is not convenient, and is difficult to perform regular calibration.

  The image processing system according to the present embodiment is a position of a light emitting element of a specified object to be picked up in a first coordinate system set in a first captured image captured by a first image capturing apparatus among a plurality of image capturing apparatuses. And the position of the light emitting element of the designated imaging target in the second coordinate system set in the second captured image captured by the second imaging device among the plurality of imaging devices, Information that defines the correspondence between the first coordinate system and the second coordinate system is updated, and calibration between a plurality of imaging devices 2 is performed.

  The imaging devices 2 </ b> A and 2 </ b> B image the plurality of light emitting elements 30 provided in each of the imaging objects 3. The imaging devices 2A and 2B are realized by, for example, a digital camera. Here, when the light emitting element 30 provided in each of the imaging objects 3 is realized by an infrared LED, the imaging devices 2A and 2B detect the infrared rays emitted from the light emitting element 30 (Charge Coupled Device). The image sensor etc. are provided. In addition, for the purpose of selectively making the light emitted from the light emitting element 30 incident on the imaging devices 2A and 2B, an optical filter corresponding to the emission wavelength of the light used for the light emitting element 30 may be provided. In the information processing system 1 according to the first embodiment, the two imaging devices 2A and 2B are provided. However, three or more imaging devices may be provided.

  The imaging target 3 includes at least one light emitting element 30 and a control circuit 31 that controls light emission. The information processing system 1 according to the first embodiment includes three objects to be imaged 3. FIG. 2A is a plan view illustrating an example of a configuration of the imaging target 3 in the first embodiment. 2B is a cross-sectional view of the object to be imaged taken along the cutting line 2B-2B in FIG. 2A. 2C is a cross-sectional view of the object to be imaged taken along section line 2C-2C in FIG. 2A.

  For example, the light emitting element 30 provided in the imaging target 3 may emit visible light, infrared light, or the like. Moreover, it is preferable that the light emitting element 30 is comprised by infrared LED, in order to clarify the difference with the surrounding visible light imaged with imaging device 2A, 2B. In addition, the light emitting element 30 may be a retroreflective reflection member. In this case, the light emitting element 30 emits light toward the movable range of the imaging target 3 from the vicinity of the imaging devices 2A and 2B. It may be provided in the processing system 1. In the first embodiment, each light emitting element 30 is realized by an infrared LED, and a control circuit (infrared LED light emission control circuit) 31 that controls light emission of the infrared LED is provided in the imaging target 3. It has been.

  As illustrated in FIG. 2A, the imaging target 3 may include a base material 32 that is a member that fixes each of the light emitting elements 30 in a predetermined position. Although the shape of the base material 32 is not specifically limited, It is preferable that it is a planar member and a member without distortion. By using a flat member that is not distorted for the base material 32, measurement errors due to fluctuations in the distance and height between the light emitting elements 30 are suppressed.

  In addition, the imaging target 3 in the first embodiment includes five light emitting elements 30. Each light emitting element 30 is determined based on a first light emitting element group configured by first light emitting elements 30A, 30B, and 30C arranged at predetermined positions on a common plane, and a position of the first light emitting element group. The second light emitting element 30 </ b> D disposed at the determined position and the third light emitting element 30 </ b> E disposed at a position determined based on the position of the first light emitting element group are fixed to the base material 32. .

  Since each of the first light emitting elements 30A, 30B, 30C constituting the first light emitting element group is disposed at a predetermined position, the area of the triangular area (TA) surrounded by the first light emitting element group, Each of the angles of the triangle is determined in advance. That is, the area of the triangle area (TA) and the angle of the triangle in the object to be imaged 3 are compared with the area of the triangle and the angle of the triangle in the image in which the first light emitting element group is captured by the imaging devices 2A and 2B. By doing so, the three-dimensional position information of the object to be imaged 3 is calculated. As a method for calculating the three-dimensional position information, for example, a method described in Japanese Patent No. 453011 or Japanese Patent Application Laid-Open No. 2009-92568 may be used.

  The second light emitting element 30D is used for the purpose of assisting the first light emitting element group which is the main light emitting element 30 in calculating the position information of the imaging target 3. The second light emitting element 30D is provided apart from the common plane formed by the first light emitting element group. For example, as shown in FIGS. 2B and 2C, a convex portion is provided on one surface of the base material 32 on which the plurality of light emitting elements 30 are arranged, and a second light emitting element 30D is provided at the upper end of the convex portion. It is good as well. Further, the second light emitting element 30D is located inside the area (triangular area TA in FIG. 2A) surrounded by the three first light emitting elements 30A, 30B, and 30C in the plan view of the imaging target 3 shown in FIG. 2A. Is provided.

  The third light emitting element 30E is located on the same plane as the plane formed by connecting the first light emitting elements 30A, 30B, and 30C (that is, located on a common plane). The third light emitting element 30E is outside the area (triangular area TA in FIG. 2A) surrounded by the three first light emitting elements 30A, 30B, and 30C in the plan view of the imaging target 3 shown in FIG. 2A. Is provided. In the object to be imaged 3, the third light emitting element 30E is disposed at a position determined based on the position of the first light emitting element group, and the position of the arrangement of the third light emitting element 30E and the first light emitting element group. The relationship is unique to the object to be imaged 3. That is, the positional relationship between the third light emitting element 30 </ b> E and the first light emitting element group has a role of an ID that identifies the object to be imaged 3.

  The image processing device 4 processes captured images captured by the first and second imaging devices 2A and 2B. The specific configuration of the image processing device 4 and the specific processing performed by the image processing device 4 will be described in detail later.

  The communication mediating device 5 is fixed at a predetermined position in the imaging space where the images are taken by the first and second imaging devices 2A and 2B. When one object to be imaged 3 is arranged in one communication mediating device 5, the communication between the control circuit 31 provided in the one object to be imaged 3 and the image processing device 4 is mediated. In addition, the image processing system 1 according to the first embodiment includes three communication mediating devices 5A, 5B, and 5C corresponding to the fact that the information processing system 1 includes three objects to be imaged 3. It is configured to include.

  Here, when the communication mediating device 5 receives an instruction from the image processing device 4 to emit one of the light emitting elements provided in the object to be imaged 3 arranged in the communication mediating device 5, the communication mediating device 5 A light emitting element that is an instruction target of an object to be imaged disposed in the communication mediating device 5 is caused to emit light.

  In the image processing system according to the first embodiment shown in FIG. 1, a plurality of imaging objects 3 arranged in the communication mediating device 5 are caused to emit light in a cooperative manner, and the imaging device 2 can be increased over a wide imaging space. Accurate reference coordinate calibration is mechanically performed at low operating costs and at appropriate timing compared to conventional ones.

  As shown in FIGS. 1B and 1C, each of the communication mediating devices 5 of the image processing system 1 according to the first embodiment is a space adjacent to a space that is not imaged by the imaging device 2 in the imaging space of the imaging device 2. It will be distributed in the part.

  At that time, the reference coordinate calibration between the fields of view of the plurality of imaging devices 2 is performed in a state where each of the plurality of light emitting elements provided in the plurality of imaging objects 3 emits light (by one imaging device). The position of the light emitting element that emits light in one coordinate system set in one captured image to be captured and the light emission that emits light in another coordinate system set in another captured image captured by another imaging device Perform calibration so that the position of the element corresponds.

  Thus, by sequentially emitting the light emitting elements of the plurality of imaging objects 3 and using them for calibration, a plurality of reference coordinate calibrations are repeated, and statistically highly accurate calibration data is obtained. Become. Furthermore, even when a plurality of imaging devices 2 are installed on a stand with insufficient rigidity, measurement can be performed after calibration by this procedure, so that image data captured by the plurality of imaging devices 2 can be measured. Ensure consistency. Therefore, based on the picked-up image of the image pickup object 3, the position of the image pickup object in the three-dimensional space and position information such as a three-axis angle (roll angle, pitch angle, yaw angle) (hereinafter referred to as three-dimensional position information). In the position measurement system for measuring the measurement object, when the object to be imaged 3 is used, the accuracy and reliability of the measurement data is improved.

  That is, the image processing system according to the first embodiment has a function of controlling ON / OFF of light emission of the light emitting element provided in the imaging target 3 disposed in the communication mediating device 5, and the emitted light emitting element captures an image. Based on the obtained image, for example, the light emitting element arrangement calibration of the object to be imaged 3 itself and / or the reference coordinate calibration of the measurement target area where the communication mediating device 5 is installed are provided. As a result, parameter variations, fluctuations, and the like of the object to be imaged 3 are calibrated every time the object to be imaged 3 is placed in the communication mediating device 5, so that the optimum measurement parameters can be used at any time, and as designed. Measurement accuracy and performance will be maintained without increasing operational costs. Further, since the reference coordinate calibration is performed every time the object to be imaged 3 is arranged in the communication mediating device 5, it affects the relative position fluctuation between the position where the imaging device 2 is installed and the measurement target. Therefore, a highly accurate and stable measurement result can be obtained.

  Next, the configuration of the image processing apparatus 4 will be described in detail below. FIG. 3 is a block diagram illustrating a main configuration example of the image processing apparatus 4 according to the first embodiment. The image processing apparatus 4 according to the first embodiment includes a control unit 40 and a storage unit 41.

  The control unit 40 is realized by a CPU (Central Processing Unit) or the like, and operates according to a program stored in the storage unit 41. As shown in FIG. 3, the control unit 40 is configured to functionally include a device control unit 42, an image acquisition unit 43, an image analysis unit 44, and an update unit 45. Specific contents of the processing performed by the control unit 40 will be described in detail later. The program may be provided by being stored in an information recording medium such as a CD-ROM or DVD-ROM, or may be provided via a network such as the Internet.

  The memory | storage part 41 is realizable with memory elements, such as RAM (Random Access Memory), a hard disk, etc. The storage unit 41 stores a program (software) executed by the control unit 40. The storage unit 41 also operates as a work memory that stores various data used in the course of processing performed by the control unit 40. In addition, the storage unit 41 stores the positional relationship of the plurality of light emitting elements 30 provided in the object to be imaged 3 in the object to be imaged 3. The storage unit 41 also has coordinates on the captured image where the light emitting elements 30 are imaged when each of the light emitting elements 30 of the imaging target 3 placed on the communication mediating device 5 is imaged by each imaging device 2. The position is memorized. The storage unit 41 may be provided outside the image processing apparatus 4.

  Next, the configuration of the control unit 40 will be described in more detail. The control unit 40 according to the first embodiment includes a light emission control unit that controls light emission of light emitting elements provided in three imaging objects disposed in three communication mediating devices, and three imaging objects by the light emission control unit. The first and second captured images captured by the first and second imaging devices in a state where the designated light emitting element emits light are set to the first captured image. The first coordinate system and the first coordinate system are arranged so that the position of the designated light emitting element in the first coordinate system corresponds to the position of the designated light emitting element in the second coordinate system set in the second captured image. Update means for updating information defining the correspondence with the two coordinate systems, and functionally.

  For example, when each of the imaging objects 3A, 3B, and 3C is arranged in each of the communication mediating devices 5A, 5B, and 5C, the device control unit 42 previously sets the light emitting elements 30 provided in the imaging object 3 to The light emitting element 30 is controlled to emit light according to a predetermined order. That is, the device control unit 42 includes a light emission control unit 42A that controls light emission of the light emitting elements provided in the three imaging objects 3A, 3B, and 3C that are respectively arranged in the three communication mediating devices 5A, 5B, and 5C. . For example, the light emission control unit 42A may perform control to cause only the light emitting element 30A provided in each of the imaging objects 3A, 3B, and 3C to emit light. Or it is good also as performing control which makes each light emitting element with which the to-be-photographed object 3 was equipped light-emit in order like light emitting element 30A, 30B, 30C ... based on a predetermined timing. Or it is good also as performing control which makes all the light emitting elements with which the to-be-photographed object 3 was equipped light-emit for every to-be-photographed object 3. FIG. Then, the device control unit 42 notifies the image analysis unit 44 and the update unit 45 of which light emitting element of which image pickup object 3 is emitting light.

  In addition, the device control unit 42 includes an imaging device control unit 42B that controls the imaging devices 2A and 2B to image the light emitting elements of the imaging target 3 disposed in the communication mediating device 5. Then, the device control unit 42 instructs the image acquisition unit 43 to acquire the image captured by the imaging device 2.

  The image acquisition unit 43 acquires an image captured by each imaging device 2. Then, an image captured by each of the image capturing apparatuses 2 is output to the image analysis unit 44 at each time when the image is captured.

  The image analysis unit 44 includes an image captured by each of the imaging devices 2 input from the image acquisition unit 43, three-dimensional position information where each of the communication mediating devices 5 stored in the storage unit 41 is disposed, and a storage unit Based on the coordinate position on the picked-up image where the light-emitting element 30 is picked up and stored in 41, any light-emitting element 30 in which the light-emitting element 30 shown in the picked-up image is arranged in any communication mediating device 5 It is analyzed whether it is. For example, the image analysis unit 44 performs the analysis by the following method. The analysis method is not limited to the following method.

  FIG. 4A is a diagram illustrating an example of a first captured image captured by the first imaging device. FIG. 4A shows (80, 100), (80, 420), (560, 50) in the coordinate system (hereinafter referred to as the first coordinate system) of the first captured image captured by the first imaging device. A state in which the light emitting elements 30A of the objects to be imaged 3A, 3B, and 3C are imaged at three positions is shown.

  FIG. 4B is a diagram illustrating an example of a second captured image captured by the second imaging device. FIG. 4B shows (51, 61), (111, 371), (621, 91) in the coordinate system (hereinafter referred to as the second coordinate system) of the second captured image captured by the second imaging device. A state in which the light emitting elements 30A of the objects to be imaged 3A, 3B, and 3C are imaged at three positions is shown.

  FIG. 5 is a diagram illustrating coordinate positions on a captured image in which the light emitting element 30 stored in the storage unit 41 is captured. In FIG. 5, at the time of 2011.0.3.1.17: 00: 00, three positions of (80, 100), (80, 420), (560, 50) in the first coordinate system are covered. The light-emitting elements 30A of the imaging objects 3A, 3B, and 3C are imaged and calibrated, and in the second coordinate system, the objects to be detected are placed at three positions (50, 60), (110, 370), and (620, 90). It is shown that the light emitting elements 30A of the imaging objects 3A, 3B, and 3C are imaged and calibrated.

  The image analysis unit 44 includes the positions (the coordinate positions shown in FIG. 4) of the light emitting elements 30A of the imaging objects 3A, 3B, and 3C in the first coordinate system and the imaging object 3A stored in the storage unit 41. 3B and 3C light-emitting elements 30A with reference to the coordinate position (coordinate position indicated by the column indicated by reference numeral 50) on the captured image captured by the first imaging device 2A. The positions of the light emitting elements 30A of the objects 3A, 3B, and 3C in the first coordinate system and the first imaging device 2A of the light emitting elements 30A of the objects to be imaged 3A, 3B, and 3C stored in the storage unit 41 are captured. It is analyzed that the coordinate position on the captured image matches. Therefore, the image analysis unit 44 analyzes that the light emitting element 30A imaged at the position (80, 100) in the first coordinate system is based on the imaging target 3A. Similarly, when the light emitting element 30A imaged at the position (80, 420) in the first coordinate system is based on the imaging target 3B, the light emitting element 30A is positioned at the position (560, 50) in the first coordinate system. The imaged light emitting element 30A is analyzed to be based on the object to be imaged 3C.

  The image analysis unit 44 also includes the positions of the light emitting elements 30A of the imaging objects 3A, 3B, and 3C in the second coordinate system shown in FIG. 4B, and the imaging object 3A stored in the storage unit 41. The object to be imaged is referred to with reference to the coordinate position (coordinate position indicated by the column indicated by reference numeral 51 in FIG. 5) on the captured image captured by the first imaging device 2A of the light emitting element 30A of 3B and 3C. Images are taken by the first imaging device 2A of the light emitting elements 30A of the objects to be imaged 3A, 3B, 3C stored in the storage unit 41 and the positions of the light emitting elements 30A of 3A, 3B, 3C in the second coordinate system. It is analyzed that the coordinate position on the captured image does not match. Here, in the image analysis unit 44, the light emitting element 30A imaged at the position (51, 61) in the second coordinate system most closely approximates any of the second coordinate system positions of the light emitting element 30A in FIG. Determine if it is a thing. Then, the image analysis unit 44 analyzes that the light emitting element 30A imaged at the position (51, 61) in the second coordinate system is based on the object to be imaged 3A. Similarly, if the light emitting element 30A imaged at the position (111, 371) in the second coordinate system is based on the imaging target 3B, the light emitting element 30A is located at the position (621, 91) in the second coordinate system. The imaged light emitting element 30A is analyzed to be based on the object to be imaged 3C.

  The image analysis unit 44 outputs the analysis result regarding the light emitting element 30 </ b> A to the update unit 45. Further, the image analysis unit 44 outputs to the device control unit 42 that the analysis related to the light emitting element 30A has been completed. The device control unit 42 that has input that the analysis of the light emitting element 30A by the image analyzing unit 44 has been completed stops the light emission of the light emitting element 30A. Next, the device control unit 42 may instruct the communication mediating device 5 to control light emission related to another light emitting element (for example, 30B). When the device control unit 42 commands the communication mediating device 5 to control light emission related to another light emitting element (for example, 30B), the calibration performed in the light emitting element 30A is also performed for the other light emitting element that is followed. Will be.

  The update unit 45 includes the position of the designated light emitting element in the first coordinate system set in the first captured image, and the position of the designated light emitting element in the second coordinate system set in the second captured image. The information that defines the correspondence relationship between the first coordinate system and the second coordinate system is updated so that.

  That is, the result analyzed by the image analysis unit 44 is stored in the storage unit 41 as indicating the coordinate position on the captured image of the light emitting element 30 at the time when the analyzed image is captured.

  FIG. 6 is a diagram illustrating a state in which the coordinate position on the captured image obtained by capturing the light emitting element 30 stored in the storage unit 41 illustrated in FIG. 5 is updated. In the image processing system according to the first embodiment, the coordinate position of each light-emitting element measured for each image pickup apparatus together with the object ID, the update time, etc., with the calibration results of the first coordinate system and the second coordinate system. Is recorded in association with. Then, at the next calibration, the first coordinate system and the second coordinate system are calibrated using the latest update result (data at the update time 2012.3.2.12:30:30 in FIG. 6).

  In this way, by calibrating the first coordinate system and the second coordinate system using the latest update result, the position and angle of the object to be imaged 3 in the three-dimensional space (the object to be imaged 3 is directed). In a position measurement system that measures the direction in which the measurement is performed, measurement is performed on the basis of guaranteed measurement accuracy.

  Next, specific processing performed by the control unit 40 of the image processing apparatus 4 will be described. FIG. 7 shows the position of the designated light emitting element 30 in the first coordinate system set in the first captured image and the second captured image performed by the control unit 40 of the image processing apparatus 4 according to the first embodiment. An example of processing for updating information defining the correspondence between the first coordinate system and the second coordinate system so that the position of the designated light emitting element 30 in the second coordinate system set to FIG.

  The control unit 40 of the image processing device 4 detects whether or not the object to be imaged 3 is arranged in the communication mediating device 5 (S71). When the object to be imaged 3 is arranged in the communication mediating device 5, the control unit 40 causes one designated light emitting element 30 of the object to be imaged 3 to emit light (S72). And the image which imaged the designated one light emitting element 30 is acquired (S73). Next, the position of the designated one light emitting element 30 in the first coordinate system set in the first captured image and the designated one light emitting element 30 in the second coordinate system set in the second captured image. The information defining the correspondence between the first coordinate system and the second coordinate system is calibrated so as to correspond to each other (S74). And the position of the designated one light emitting element in the first coordinate system set in the first captured image and the position of the designated one light emitting element in the second coordinate system set in the second captured image The information for defining the correspondence between the first coordinate system and the second coordinate system is updated so that the two correspond to each other (S75). Further, it is determined whether or not the same calibration is repeated for the other light emitting elements 30 (S76). If the same calibration is repeated for the other light emitting elements 30, the steps S71 to S75 are repeated in the same manner. If the same calibration is not repeated for the other light emitting elements 30, the process is terminated.

[Second Embodiment]
The overall configuration of the information processing system according to the second embodiment is similar to the information processing system according to the first embodiment. First and second imaging devices 2A and 2B, at least one light emitting element 30, and each light emitting element. Three or more imaging objects 3 each including a control circuit 31 that controls the light emission of 30; an image processing device 4 that processes captured images captured by the first and second imaging devices 2A and 2B; Each of the first and second imaging devices 2A and 2B is fixed at a predetermined position in the imaging space, and mediates communication between the control circuit 31 provided in the imaging target 3 and the image processing device 4. And three or more communication mediating devices 5.

  The difference between the first embodiment and the second embodiment is that the imaged object 3 includes a secondary battery, and each of the light emitting elements included in the imaged object 3 is supplied from the secondary battery. It is a point that emits light using electric power as a power source. The communication mediating device 5 includes a charging unit that charges a secondary battery included in the imaged object 3 when the imaged object 3 is arranged in the communication mediating device 5. In addition, the image processing device 4 includes a detecting unit that detects a charging state of a secondary battery included in the imaging target 3.

  By providing the communication mediating device 5 with charging means for charging a secondary battery provided in the imaging subject 3, the imaging subject 3 is periodically placed in the communication mediating device 5. Therefore, the image processing system according to the second embodiment ensures that the calibration between the imaging devices is periodically performed.

  FIG. 8 is a block diagram illustrating a main configuration example of the image processing apparatus 4 according to the second embodiment. As in the first embodiment, the image processing apparatus 4 in the second embodiment includes a control unit 40 and a storage unit 41. And the control part 40 differs from 1st embodiment by the point which has the detection part 46. FIG.

  The detection unit 46 detects the state of charge of the secondary battery of the imaging target 3 arranged in the communication mediating device 5. That is, the detection unit 46 detects how much the secondary battery of the imaging target 3 disposed in the communication mediating device 5 is charged.

  In the first embodiment, when the imaging object 3 is provided in the communication mediating device 5, the light emission of the light emitting element 30 provided in the imaging object 3 is controlled. In the second embodiment, Then, after the detection unit 46 detects the completion of charging of the secondary battery provided in the imaging target 3, the light emission of the light emitting element 30 may be controlled. By controlling the light emission of the light emitting element 30 after the charging is completed, the irradiation amount of the light emitted from the light emitting element becomes constant, and more accurate calibration is performed.

[Third embodiment]
The overall configuration of the information processing system according to the third embodiment is similar to that of the information processing system according to the first embodiment. First and second imaging devices 2A and 2B, at least one light emitting element 30, and each light emitting element. Three or more imaging objects 3 each including a control circuit 31 that controls the light emission of 30; an image processing device 4 that processes captured images captured by the first and second imaging devices 2A and 2B; Each of the first and second imaging devices 2A and 2B is fixed at a predetermined position in the imaging space, and mediates communication between the control circuit 31 provided in the imaging target 3 and the image processing device 4. And three or more communication mediating devices 5.

  Unlike the image pickup object 3 according to the first embodiment, the image pickup object 3 according to the third embodiment includes a light emitting element group 33 that can be a plurality of third light emitting elements 30E. FIG. 9 is a plan view illustrating an example of the configuration of the imaging target 3 according to the third embodiment. As shown in FIG. 9, the imaging target 3 according to the third embodiment includes a light emitting element group 33 that can be a plurality of third light emitting elements 30E. Similarly to the first embodiment, the third light emitting element 30E of the object to be imaged 3 according to the third embodiment is also an ID that identifies the object to be imaged 3 by the positional relationship between the third light emitting element 30E and the first light emitting element group. It has the role of.

  FIG. 10 is a block diagram illustrating a main configuration example of the image processing device 4 according to the third embodiment. As in the first embodiment, the image processing apparatus 4 in the third embodiment includes a control unit 40 and a storage unit 41. And the control part 40 differs from 1st embodiment by the point which has the to-be-photographed object multi-ID setting part 47. FIG. The imaging object multi-ID setting unit 47 selects one light emitting element 30 from the light emitting element group 33 provided in the imaging object 3, and sets a unique ID for the imaging object 3. When the communication intermediary device 5 is instructed by the imaging subject multi-ID setting unit 47 to give a unique ID to the imaging subject 3 arranged in the communication mediating device 5, the arranged imaging subject ID corresponding to 3 is assigned. That is, when one of the light emitting element groups 33 provided in the object to be imaged 3 of the third embodiment is selected by the image processing device 4, a specific ID is given to the object to be imaged 3. It becomes.

  FIG. 11 is an explanatory diagram illustrating an example of processing performed by the control unit of the image processing apparatus 4 according to the third embodiment. S71 to S76 are the same as the processes performed by the control unit of the image processing apparatus 4 according to the first embodiment. The control unit of the image processing apparatus 4 according to the third embodiment performs the multi-ID setting for the imaging target after the calibration is finished (S77). Then, all the calibration results and information on the unique ID given by the imaging target multi-ID setting are stored in the storage unit 41 (S78).

  By providing the imaging object multi-ID setting unit as in the third embodiment, the specifications can be made uniform in manufacturing the imaging object 3, and thus the manufacturing cost of the imaging object 3 is suppressed. Moreover, since it is not necessary to manage the to-be-photographed object 3 according to ID, the management cost in use will be suppressed.

  DESCRIPTION OF SYMBOLS 1 Image processing system, 2 Imaging apparatus, 3 to-be-photographed object, 4 Image processing apparatus, 5 Communication mediating apparatus, 6 Network, 30 Light emitting element, 31 Control circuit, 32 Base material, 40 Control part, 41 Memory | storage part, 42 Device control Unit, 43 image acquisition unit, 44 image analysis unit, 45 update unit, 46 detection unit, 47 to-be-photographed object multi-ID setting unit, 50 first coordinate system position of first light emitting element 30A, 51st first light emitting element 30A first Two coordinate system position.

Claims (5)

First and second imaging devices;
Three or more objects to be imaged each including at least one light emitting element and a control circuit for controlling light emission of each light emitting element;
An image processing device that processes captured images captured by the first and second imaging devices;
Three or more that are fixed at predetermined positions in the imaging space imaged by the first and second imaging devices and mediate communication between the control circuit provided in the imaging target and the image processing device. A communication mediating device,
Each of the three or more imaging objects is arranged to be able to communicate with the image processing apparatus in any of the three or more communication mediating apparatuses,
The image processing apparatus includes:
Light emission control means for controlling light emission of light emitting elements provided in the three or more imaging objects respectively disposed in the three or more communication mediating devices;
Captured images for acquiring first and second captured images respectively captured by the first and second imaging devices in a state in which the light emitting elements designated by the three or more objects to be captured are caused to emit light by the light emission control means. Acquisition means;
The position of the designated light emitting element in the first coordinate system set in the first captured image and the position of the designated light emitting element in the second coordinate system set in the second captured image are An image processing system comprising: update means for updating information defining a correspondence relationship between the first coordinate system and the second coordinate system so as to correspond. The object to be imaged includes a secondary battery,
The light emitting element provided in the object to be picked up using the power supplied from the secondary battery as a power source emits light,
The communication mediating device includes a charging unit that charges the secondary battery included in the imaged object when the imaged object is arranged in the communication mediating device.
The image processing system according to claim 1. The image processing apparatus further includes a detection unit that detects a charging state of the secondary battery,
The light emission control means controls light emission of the light emitting element after the detection means detects completion of charging of the secondary battery.
The image processing system according to claim 2. First and second imaging devices;
Three or more objects to be imaged each including at least one light emitting element and a control circuit for controlling light emission of each light emitting element;
Three or more that are fixed at predetermined positions in the imaging space imaged by the first and second imaging devices and mediate communication between the control circuit provided in the imaging target and the image processing device. Each of the communication mediators is connected to be communicable,
An image processing apparatus that processes captured images captured by the first and second imaging apparatuses,
Light emission control means for controlling light emission of light emitting elements provided in the three or more imaging objects respectively disposed in the three or more communication mediating devices;
Captured images for acquiring first and second captured images respectively captured by the first and second imaging devices in a state in which the light emitting elements designated by the three or more objects to be captured are caused to emit light by the light emission control means. Acquisition means;
The position of the designated light emitting element in the first coordinate system set in the first captured image and the position of the designated light emitting element in the second coordinate system set in the second captured image are An image processing apparatus comprising: update means for updating information defining a correspondence relationship between the first coordinate system and the second coordinate system so as to correspond. First and second imaging devices;
Three or more objects to be imaged each including at least one light emitting element and a control circuit for controlling light emission of each light emitting element;
Three or more that are fixed at predetermined positions in the imaging space imaged by the first and second imaging devices and mediate communication between the control circuit provided in the imaging target and the image processing device. Each of the communication mediators is connected to be communicable,
A computer that processes captured images captured by the first and second imaging devices;
Light emission control means for controlling light emission of light emitting elements provided in the three or more imaging objects respectively disposed in the three or more communication mediating devices;
Captured images for acquiring first and second captured images respectively captured by the first and second imaging devices in a state in which the light emitting elements designated by the three or more objects to be captured are caused to emit light by the light emission control means. Acquisition means,
The position of the designated light emitting element in the first coordinate system set in the first captured image and the position of the designated light emitting element in the second coordinate system set in the second captured image are Updating means for updating information defining a correspondence relationship between the first coordinate system and the second coordinate system so as to correspond;
Program to function as.

Images