JP2015067443A - Position detector, imaging device, position detection method and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a position detector capable of detecting positions of objects existing in a wide range while identifying the objects without assistance with space saving.SOLUTION: An object OB to which a marker MK for identification is applied, is imaged by a fisheye camera C capable of imaging by fisheye imaging, for acquiring fisheye image data. Based on the fisheye image data, the marker MK is detected for recognizing the object OB and its position. The result is displayed on a display D with a sketch diagram MP.

Description

  The present invention belongs to the technical field of a position detection device, an imaging device, a position detection method, and a position detection program. More specifically, the present invention belongs to the technical field of a position detection device and a position detection method for detecting the position of an article, an imaging device used for the position detection, and a position detection program used for the position detection device.

  When distributing goods such as luggage, it is desirable to always manage where the goods currently exist. In such a case, conventionally, for example, information from a two-dimensional bird code or a so-called IC (Integrated Circuit) tag attached to the article is read and managed by a worker using a reading device. In addition to this, necessary information is read by reading the necessary information by, for example, passing the article with the two-dimensional barcode or IC tag through the gate provided with the reading device. . As a prior art document showing such a conventional technique, for example, the following Patent Document 1 or Patent Document 2 is cited.

Japanese Patent Laid-Open No. 10-324405 JP 2006-160324 A

  However, in the above-described conventional method, when the worker reads and manages the necessary information with the reading device, the worker needs to go to the position of the article and confirm the location. If the place where the article exists is wide, there is a problem that an unnecessary time is required such as searching for the article in the first place. Further, when the gate is used, there is a problem that it is necessary to secure a space for installing the gate. Further, in this case, there is a problem that it is impossible to accurately specify in which position the article to be searched exists.

  Therefore, the present invention has been made in view of the above-described problems, and its problem is to detect the position of an article existing in a wide range while identifying the article without saving space and manpower. An object of the present invention is to provide a position detection device and a position detection method that can be used, an imaging device used for the position detection, and a position detection program used in the position detection device.

  In order to solve the above-described problem, the invention according to claim 1 is directed to an imaging unit such as a fisheye camera capable of wide-angle imaging of the article with an identification index such as a marker for identifying the article. An acquisition unit such as an interface for acquiring wide-angle image information corresponding to a wide-angle image obtained by imaging together with the identification index, and a marker for extracting identification index information corresponding to the identification index from the acquired wide-angle image information Extraction means such as a search unit, position detection means such as a coordinate conversion unit that detects a relative position of the article with respect to the imaging means based on the extracted identification index information, and the extracted identification index information Based on the recognition means such as a decoding unit that recognizes the identification index, the detected position, the position of the imaging means itself, and the recognized identification index Display means for notifying the generated article information and the position information indicating the position of the article, such as a coordinate conversion unit, and the generated article information and the position information based on the position information Output means such as an interface for outputting to such notification means.

  In order to solve the above problem, the invention according to claim 9 is obtained by imaging the article with the identification index for identifying the article together with the identification index by wide-angle imaging, and obtaining the article. A position detection method executed in a position detection apparatus connected to an imaging means such as a fisheye camera that outputs wide-angle image information corresponding to a wide-angle image and a notification means such as a display that notifies the position of the article. Based on the acquisition step of acquiring the output wide-angle image information, the extraction step of extracting identification index information corresponding to the identification index from the acquired wide-angle image information, and the extracted identification index information A position detecting step for detecting a relative position of the article with respect to the imaging means, a recognition step for recognizing the identification index based on the extracted identification index information, and the detection A generating step for generating article information indicating the article and position information indicating the position of the article based on the determined position, the position of the imaging unit itself, and the recognized identification index; Outputting the article information and the position information to the notification means for notifying the position of the article based on the position information.

  In order to solve the above problem, the invention according to claim 10 is obtained by imaging the article with the identification index for identifying the article together with the identification index by wide-angle imaging, and obtaining the article. A computer included in a position detection device connected to an imaging means such as a fisheye camera that outputs wide-angle image information corresponding to a wide-angle image and a notification means such as a display that notifies the position of the article is output. Acquisition means for acquiring the wide-angle image information, extraction means for extracting the identification index information corresponding to the identification index from the acquired wide-angle image information, and the imaging means based on the extracted identification index information Position detecting means for detecting a relative position of the article, recognition means for recognizing the identification index based on the extracted identification index information, the detected position, Based on the position of the image means itself and the recognized identification index, generation means for generating article information indicating the article and position information indicating the position of the article, and the generated article information and the Position information is caused to function as output means for outputting to the notifying means for notifying the position of the article based on the position information.

  According to the invention according to any one of claims 1, 9, and 10, based on the identification index information extracted from the wide-angle image information obtained by imaging the article together with the identification index, A relative position is detected, and an identification index is recognized based on the identification index information. Then, based on the detected relative position, the position of the imaging unit itself, and the recognized identification index, article information and position information are generated and output to the notification unit. Therefore, by using the wide-angle image information, the position of an article existing in a wide range can be detected while identifying the article without saving space and manpower.

  In order to solve the above-described problem, the invention according to claim 2 is the position detection device according to claim 1, wherein the imaging means includes a fisheye lens and outputs a fisheye image as the wide-angle image. It is configured to be fish-eye imaging means such as an eye camera.

  According to the invention described in claim 2, in addition to the operation of the invention described in claim 1, since the imaging means is a fish-eye imaging means, a wider range is imaged at a time and exists within that range. The position can be detected while identifying the article.

  In order to solve the above-described problem, the invention according to claim 3 is the position detection device according to claim 1 or 2, wherein the identification index identifies the article to which the identification index is attached. For example, an article identification section such as an article identification data section and a frame section that defines the outer edge of the identification index can be captured by the imaging means.

  According to the invention described in claim 3, in addition to the operation of the invention described in claim 1 or claim 2, the identification index is configured by the article identification part and the frame part, and can be imaged. The imaging means can accurately recognize the identification index to identify the article and detect its position.

  In order to solve the above-described problem, the invention according to claim 4 is the position detection device according to claim 3, wherein the frame portion is configured to have a continuous polygonal shape surrounding the article identification portion. The

  According to the invention described in claim 4, in addition to the operation of the invention described in claim 3, since the frame portion of the identification index is a continuous polygonal shape surrounding the article identification section, the identification index information is accurately extracted. Thus, identification of the article and position detection thereof can be performed.

  In order to solve the above-described problem, the invention according to claim 5 is the position detection device according to claim 3 or 4, wherein the article identification unit of the identification index uses the identification index as another index. It is comprised so that it may serve as a distinction index for distinguishing from.

  According to the invention described in claim 5, in addition to the action of the invention described in claim 3 or claim 4, the article identification part of the identification index also serves as the identification index. The necessary identification index can be accurately recognized by distinguishing from other indices.

  In order to solve the above problem, the invention according to claim 6 is the position detecting device according to claim 3 or 4, wherein the identification index is for distinguishing the identification index from other indices. A distinction index is further provided so that the imaging means can capture an image.

  According to the invention described in claim 6, in addition to the operation of the invention described in claim 3 or claim 4, the identification index further includes a distinction index so that it can be imaged. It is possible to accurately recognize necessary identification indicators by clearly distinguishing them from the other indicators.

  In order to solve the above-mentioned problem, the invention according to claim 7 is the position detection device according to any one of claims 1 to 6, wherein the notification means includes the article information and the position information. And a display means such as a display for displaying the position of the article together with a diagram showing a region where the article exists, and the generation means generates the article information and the position information for display on the display means Configured to do.

  According to invention of Claim 7, in addition to the effect | action of the invention as described in any one of Claims 1-6, the area | region where the said article | item exists based on article information and position information is shown. The display means displays the position of the article together with the figure, and generates the article information and position information for display. Therefore, the position of the article in the region where the article is present can be easily displayed.

  In order to solve the above-mentioned problem, the invention according to claim 8 outputs the wide-angle image information to the position detection device according to any one of claims 1 to 7 and the acquisition unit. The imaging means.

  According to the invention described in claim 8, by using the wide-angle image information as in the invention described in any one of claims 1 to 7, the position of the article existing in a wide range can be saved in space. In addition, the article can be detected while being identified without any manual intervention.

  According to the present invention, the relative position of an article is detected based on identification index information extracted from wide-angle image information obtained by imaging the article together with the identification index, and the identification index is based on the identification index information. Recognize Then, based on the detected relative position, the position of the imaging unit itself, and the recognized identification index, article information and position information are generated and output to the notification unit.

  Therefore, by using the wide-angle image information, the position of an article existing in a wide range can be detected while identifying the article without saving space and manpower.

1 is a block diagram illustrating a schematic configuration of a position detection system according to a first embodiment. It is a top view which shows the structure of the marker which concerns on 1st Embodiment. It is a block diagram which shows the schematic structure of the processing apparatus which concerns on 1st Embodiment. It is a flowchart which shows the position detection process which concerns on 1st Embodiment. It is a figure which illustrates the fish-eye image which concerns on 1st Embodiment. It is a figure which illustrates the correction fisheye image concerning a 1st embodiment. It is a block diagram which shows schematic structure of the position detection system which concerns on 2nd Embodiment.

  Next, modes for carrying out the present invention will be described based on the drawings. Each embodiment described below is an embodiment when the present invention is applied to a position detection system that detects and displays the position of an article existing in a large room or site such as a factory. is there. In the following description, the room or site is simply referred to as “room or the like”.

(I) First Embodiment First, a first embodiment according to the present invention will be described with reference to FIGS. 1 is a block diagram showing a schematic configuration of the position detection system according to the first embodiment, FIG. 2 is a plan view showing a configuration of a marker according to the first embodiment, and FIG. 3 is a first embodiment. It is a block diagram which shows schematic structure of the processing apparatus which concerns on. FIG. 4 is a flowchart showing the position detection process according to the first embodiment, FIG. 5 is a diagram illustrating a fisheye image according to the first embodiment, and FIG. 6 is a corrected fish according to the first embodiment. It is a figure which illustrates an eye image.

  First, the schematic configuration of the position detection system according to the first embodiment will be described with reference to FIG.

  As shown in FIG. 1, the position detection system S according to the first embodiment includes a fisheye camera C provided downward, for example, on the ceiling of the room or the like, and a processing device PC connected to the fisheye camera C. And a display D such as a liquid crystal display connected to the processing apparatus PC. At this time, the fisheye camera C corresponds to an example of “imaging means” and an example of “fisheye imaging means” according to the present invention, respectively, and the display D corresponds to an example of “notification means” according to the present invention and “display means”. Respectively.

  On the other hand, for example, the marker MK according to the first embodiment is attached to an article OB that is loaded and transported on the carriage DH in the room or the like, for example, on the top surface that can be imaged from the fisheye camera C. Yes. This marker MK corresponds to an example of an “identification index” according to the present invention. The marker MK may be printed at a position on the surface of the article OB that can be imaged.

  Then, the fisheye camera C images the marker MK on the article OB in the room or the like, and transmits it to the processing device PC as fisheye image data. As a result, the processing apparatus PC identifies the article OB with the marker MK from another article based on the fisheye image data transmitted from the fisheye camera C, and positions the article OB in the room or the like. Is detected. Then, the processing apparatus PC transmits article identification data indicating the article OB and article position data indicating the detected position to the display D. Thereby, on the display D, a position mark P is displayed together with information indicating the article OB indicated by the article identification data at a position corresponding to the article position data on the floor plan MP, for example, in a room where the article OB exists.

  As described above, according to the operation of the position detection system S according to the first embodiment, the fish OB image data obtained by imaging the article OB together with the marker MK is used to identify the article OB and the position thereof. Is displayed on the display D so as to be superimposed on the drawing MP. Therefore, by using the fish-eye image data, the position of the article OB existing in a wide range in the room or the like can be detected while identifying the article OB without saving space and manpower.

  Next, the marker MK according to the first embodiment will be specifically described with reference to FIG.

  As illustrated in FIG. 2, the marker MK according to the first embodiment is attached to a position that can be imaged from the fisheye camera C of the article OB to be position-detected by a technique such as pasting or printing. ing. The marker MK is composed of, for example, a continuous rectangular frame portion F that defines the outer edge, an error bit EB in the frame portion F, and an article identification data portion ID. At this time, the article identification data ID corresponds to an example of an “article identification unit” according to the present invention, and the error bit EB corresponds to an example of a “discrimination index” according to the present invention. In addition to this, the shape of the frame portion F may be a triangle or pentagon as a continuous polygonal shape. Further, the frame portion F may have a discontinuous shape with a part missing.

  In this marker MK configuration, the frame F indicates the presence of the marker MK and serves as a reference for correcting the fisheye image data. The error bit EB is used to identify the marker MK according to the first embodiment from, for example, another rectangular index in the fisheye image data and to detect the angle of the marker MK in the fisheye image data. . The function of this error bit EB will be described in detail later.

  On the other hand, in the item identification data part ID, binary data is described by, for example, a black part and a white part. In the case of the article identification data part ID illustrated in FIG. 2, the black part corresponds to the data “0” and the white part corresponds to the data “1”, for example, “0010111110” is described. In FIG. 2, each data is indicated by (), and the data “0” or “1” is not actually displayed on the marker MK. Then, by recognizing the article identification data portion ID in the processing device PC based on the fisheye image data, the article identification data “0010111110” is read, and the article OB with the marker MK attached is read as another article. Identify from.

  Next, the detailed configuration and detailed operation of the position detection system S according to the first embodiment centered on the processing apparatus PC will be specifically described with reference to FIGS.

  As shown in FIG. 3, the processing apparatus PC according to the first embodiment is specifically realized by, for example, a personal computer or the like, and includes an interface 1 and an interface 5, a CPU, a RAM (Random Access Memory), and the like. The processing unit 2 includes a ROM (Read Only Memory), an operation unit 3 including a keyboard and a mouse, and a memory 4 including a nonvolatile area and a volatile area. The processing unit 2 includes a panoramic unit 20, a distortion correction unit 21, a marker search unit 22, a marker rectangle correction unit 23, a decoding unit 24, and a coordinate conversion unit 25. Here, the panorama converting unit 20, the distortion correcting unit 21, the marker searching unit 22, the marker rectangle correcting unit 23, the decoding unit 24, and the coordinate converting unit 25 are configured by a hardware logic circuit as a part of the processing unit 2, for example. Alternatively, it may be realized by software by reading and executing a program corresponding to position detection processing according to the first embodiment described later by the processing unit 2. At this time, the interface 1 corresponds to an example of an “acquisition unit” according to the present invention, and the marker search unit 22 corresponds to an example of an “extraction unit” according to the present invention. The decoding unit 24 corresponds to an example of “recognition unit” according to the present invention, the coordinate conversion unit 25 corresponds to an example of “position detection unit” and an example of “generation unit” according to the present invention, and the interface 5 Corresponds to an example of the “output means” according to the present invention.

  In this configuration, the memory 4 has sketch data corresponding to the sketch MP (see FIG. 1) of the room or the like where the article OB that is the position detection object exists, and coordinates indicating the position of the fisheye camera C in the room or the like. In addition to data, data necessary for processing as the processing unit 2 below is stored.

On the other hand, when the operation unit 3 instructs the start of the position detection process according to the first embodiment, the interface unit 1 performs a predetermined input process on the fisheye image data input from the fisheye camera C, respectively output to the fisheye image data D _FE as a processing unit 2 of the panoramic unit 20 and the coordinate converter 25. Wherein the fish-eye image data D _FE, for example, as illustrated in FIG. 5, carriage DH is within the shooting range of the fisheye camera C, and corresponds to the fisheye image FG yelling reflected the article OB and marker MK Fisheye image data. At this time, since the fisheye image FG is captured by the fisheye camera C, the peripheral edge portion is distorted when viewed from the center. Then, the panoramicizing unit 20 and the distortion correcting unit 21 of the processing unit 2 correct the fisheye image data _{DFE in} which the peripheral portion is distorted, and the corrected fisheye image MG as exemplified in FIG. Corresponding corrected fisheye image data is generated and output to the marker searching unit 22. Here, as illustrated in FIG. 6, in the corrected fisheye image MG, the marker MK that has been distorted in the fisheye image FG is corrected to a rectangle close to the original shape. Here, the distortion correction in the panorama converting unit 20 and the distortion correcting unit 21 can use, for example, a fish-eye image distortion correction method using panorama described in Japanese Patent No. 4629131 by the present applicant. Then, by the distortion correction using the panorama, the error bit EG and the item identification data part ID constituting the marker MK on the article OB can be recognized by the marker searching unit 22 and the like.

  Next, the marker searching unit 22 searches for the marker MK in the corrected fisheye image by recognizing the frame portion F of the marker MK in the corrected fisheye image data, and outputs the search result to the marker rectangle correcting unit 23. . The search result includes an image of the searched marker MK and an article indicating the position of the marker MK in the corrected fisheye image data (in other words, the relative position of the marker MK as viewed from the position of the fisheye camera C). Contains location data.

  The marker rectangle correction unit 23 corrects the image of the marker MK included in the search result to the original shape (rectangle, see FIG. 2) as the marker MK, and the correction result is the article position data. At the same time, it is output to the decoding unit 24. At this time, the marker rectangle correction unit 23 determines the shape and position of the frame portion F (for example, the positions of the four corners of the frame portion F) in the image of the marker MK included in the search result, the position of the error bit EB, The degree of rotation of the marker MK on the radius centered on the center of the fisheye image FG (in other words, the vertical leg dropped from the fisheye camera C to the floor of the room or the like) That is, the angle of the marker MK with respect to the radial direction is recognized, and the image of the marker MK is corrected based on the recognition result. More specifically, for example, when the direction of the long side of the frame portion F is the radial direction when viewed from the center of the fisheye image FG, and the error bit EG is located on the central side, the error of the marker MK Recognizing that the bit EG is on the center side (in other words, the article identification data ID is at a position far from the center), the image of the marker MK is corrected. Further, for example, the direction of the long side of the frame portion F when viewed from the center of the fisheye image FG is a direction perpendicular to the radius, and the error bit EG and the item identification data ID are positioned at substantially equal distances when viewed from the center. In this case, the marker MK is recognized as being in a position that is long in the lateral direction when viewed from the center (position where the long side of the frame portion F and the radius are substantially perpendicular), and the image of the marker MK is corrected. .

  Next, the decoding unit 24 reads and decodes the content of the item identification data ID (in the example illustrated in FIG. 2, item identification data “0010111110”) using the image data of the correction result by the marker rectangle correction unit 23. Is output to the coordinate conversion unit 25 together with the article position data as article identification data as a result of identifying the article OB to which the marker MK is attached from other articles.

Finally, the coordinate conversion unit 25 has the article identification data and article position data output from the decoding unit 24, the fisheye image data _DFE directly output from the interface 1, and the sketch data stored in the memory 4. On the basis of the coordinate data indicating the position of the fisheye camera C and the coordinate data indicating the position of the marker MK in the corrected fisheye image data indicated by the article position data, the marker MK (in other words, the article OB) exists. The coordinates are converted into coordinates indicating the position in a floor plan such as a room, and coordinate data indicating the converted coordinates are output to the interface 5 together with the article identification data and the floor plan data. Then, the interface 5 outputs the coordinate data and article identification data output from the coordinate conversion unit 25 and the floor plan data to the display D.

  Accordingly, the display D displays a position mark P indicating the marker MK (article OB) at the position indicated by the coordinate data, superimposed on the floor plan MP (see FIG. 1) corresponding to the floor plan data (see FIG. 1). . At this time, article identification data indicating the article OB may be displayed in association with the position mark P.

  Next, the position detection process according to the first embodiment described above will be described in a time series including the operation in the operation unit 3 with reference to FIG. As described above, the position detection process is executed with the processing unit 2 as the center. Further, the fisheye camera C always outputs the imaging result in the imaging range to the processing device PC unless its own power is turned off.

As illustrated in FIG. 4, in the position detection process according to the first embodiment, the processing unit 2 instructs the operation unit 3 to start the position detection process when the processing apparatus PC is powered on, for example. Whether or not is executed is monitored (step S1). When the instruction operation is not executed in the monitoring in step S1 (step S1; NO), the processing unit 2 continues the monitoring. On the other hand if the instruction operation is performed in the monitoring of step S1 (step S1; YES), the processing unit 2 of the interface 1 panorama unit 20 and the coordinate to obtain a fisheye image data D _FE from fisheye camera C It outputs to the conversion part 25 (step S2).

Next, the panoramicizing unit 20 and the distortion correcting unit 21 perform the above-described correction on the input fisheye image data _DFE , generate corrected fisheye image data, and output the corrected fisheye image data to the marker searching unit 22 (step S3). (See FIGS. 5 and 6).

  Then, as described above, the marker searching unit 22 searches for the marker MK in the corrected fisheye image corresponding to the output corrected fisheye image data (step S4), and outputs the search result to the marker rectangle correcting unit 23. To do.

  Thereby, the marker rectangle correction unit 23 performs the correction including the deformation process of the marker area in the image of the marker MK included in the search result, and outputs the correction result to the decoding unit 24 together with the article position data. (Step S5).

  Next, the decoding unit 24 reads and decodes the content of the article identification data ID from the image data of the correction result by the marker rectangle correcting unit 23, and identifies the article OB to which the marker MK is attached from other articles. As the article identification data, it is output to the coordinate conversion unit 25 together with the article position data (step S6).

  Based on the article identification data and article position data output from the decoding section 24, the coordinate converter 25 converts the coordinates indicating the position of the marker MK in the corrected fisheye image data, such as the room where the marker MK exists. The coordinates are converted into coordinates indicating the position in the floor plan, and the coordinate data indicating the coordinates after the conversion are output to the interface 5 together with the article identification data and the floor plan data (step S7).

  Finally, the interface 5 and the display D display the position mark P indicating the marker MK (article OB) at the position indicated by the coordinate data, superimposed on the sketch drawing MP (step S8).

  After that, the processing unit 2 determines whether or not the power of the processing apparatus PC is turned off (step S9). If not turned off (step S9; NO), the processing unit 2 returns to the processing of the step S1 and returns to the first step. The position detection process according to the embodiment is continued. On the other hand, when the power is turned off in the determination in step S9 (step S9; YES), the processing unit 2 ends the position detection process according to the first embodiment.

  As described above, according to the position detection process in the position detection system S of the first embodiment, based on the image of the marker MK extracted from the fisheye image data obtained by imaging the article OB together with the marker MK. The relative position of the article OB with respect to the fisheye camera C is detected, and the article identification data portion ID of the marker MK is recognized based on the image of the marker MK. Then, based on the detected relative position, the position of the fisheye camera C itself, and the recognized article identification data section ID, the article identification data and the coordinate data of the marker MK are generated and displayed on the display D. Output. Therefore, by using the fisheye image data, the position of the article OB existing in a wide range can be detected while identifying the article OB without saving space and manpower.

  Further, by using the fisheye camera C, it is possible to detect a position while imaging a wider range at a time and identifying an article OB existing in the range.

  Furthermore, since the marker MK is configured by the article identification data part ID and the frame part F and can be imaged, the fisheye camera C accurately recognizes the marker MK, and identifies the article OB and detects its position. It can be carried out.

  Furthermore, since the frame part F of the marker MK has a continuous polygonal shape (rectangle) surrounding the article identification data part ID, the marker MK can be accurately extracted to identify the article OB and detect its position.

  In addition, since the marker MK further includes the error bit EB and can be imaged, the marker MK can be clearly distinguished from other indices, and the necessary marker MK can be accurately recognized.

  Furthermore, since the position of the article OB is displayed together with the sketch MP indicating the room where the article OB exists based on the article identification data and the article position data, the position of the article OB in the room where the article OB exists can be easily understood. Can be displayed.

(II) Second Embodiment Next, a second embodiment which is another embodiment according to the present invention will be described with reference to FIG. FIG. 7 is a block diagram showing a schematic configuration of the position detection system according to the second embodiment. At this time, in FIG. 7, the same members as those in the position detection system S according to the first embodiment are denoted by the same member numbers, and detailed description thereof is omitted.

  In the position detection system S according to the first embodiment described above, the case where there is one fisheye camera C has been described. On the other hand, in the position detection system according to the second embodiment described below, a plurality of fisheye cameras are provided on the ceiling of one room or the like, and are present in the room or the like based on the fisheye images from these cameras. Identification and position detection of a plurality of articles are performed.

  That is, as shown in FIG. 7, the position detection system SS according to the second embodiment includes a plurality of fish-eye cameras C1 to C4 provided downward on the ceiling of the room and the like, and each fish-eye camera. The processing apparatus PCC is connected to C1 to the fisheye camera C4, and the display D is connected to the processing apparatus PCC.

  On the other hand, the articles OB1 to OB5 loaded on the carts DH1 to DH5 exist in the room or the like, and each of the articles OB1 to OB5 is provided for each of the articles OB1 to OB5. Markers MK1 to MK5 each having a different article identification data part ID are attached.

  Then, each fisheye camera C1 to fisheye camera C4 images the markers MK1 to MK5 on the articles OB1 to OB5 in the room or the like, and transmits them to the processing device PCC as fisheye image data. Thus, the processing apparatus PCC identifies the articles OB1 to OB5 with the markers MK1 to MK5 from other articles based on the fisheye image data transmitted from the fisheye cameras C1 to C4. At the same time, the positions of the articles OB1 to OB5 in the room or the like are separately detected. Then, the processing apparatus PCC transmits article identification data indicating the articles OB1 to OB5 and article position data indicating the detected positions to the display D. As a result, on the display D, the articles OB1 to OB5 indicated by the article identification data are placed at positions corresponding to the article position data on the floor plan MP in the room where the articles OB1 to OB5 exist. Corresponding position marks P1 to P5 are displayed together with the respective article identification data. At this time, for example, there may be two markers MK4 and MK5 in the fisheye image captured by the fisheye camera C4, but these are separately identified / detected. Conversely, for example, one marker MK3 may exist within the imaging ranges of the two fisheye cameras C2 and C3. In this case, for example, based on the recognized article identification data, it is determined whether or not they are the same marker MK3. If they are the same, they are handled as one marker MK3, and one corresponding position mark P3 is displayed. It is preferable that the display D be displayed.

  Thus, according to the operation of the position detection system SS according to the second embodiment, each fisheye image data obtained by imaging each article OB1 to OB5 together with each marker MK1 to marker MK5 is used. The articles OB1 to OB5 are respectively identified, and the position marks P1 to P5 indicating their positions are superposed on the drawing MP and displayed on the display D. Therefore, by using each fisheye image data, the positions of the plurality of articles OB1 to OB5 existing in a wide range in the room or the like can be set to the articles OB1 to OB5, respectively, without saving space and manpower. It can detect while identifying.

  In addition, in the marker MK which concerns on each embodiment mentioned above, although the case where the error bit EB and article identification data part ID were separate was demonstrated, arrangement | positioning of each bit in article identification data part ID so that these may be combined Alternatively, the shape can be changed. In this case, since the article identification data part ID of the marker MK and the error bit EB are used in common, the marker MK can be accurately recognized by distinguishing it from other indices while miniaturizing the marker MK.

  The error bit EB is also for identifying the marker MK according to the embodiment from, for example, another rectangular index. Therefore, when the other rectangular index or the like is not attached to the article OB, the error bit EB may not be in the marker MK.

  Furthermore, although each embodiment demonstrated the case where the fisheye camera C and the processing apparatus PC (processing apparatus PCC) were separate, the process part 2 which concerns on each embodiment in one fisheye camera C in addition to this. You may comprise so that the function of may be incorporated. In this case, the installation location of the processing apparatus PC (processing apparatus PCC) becomes unnecessary, and thus the space can be saved as the entire position detection system S (position detection system SS).

  Furthermore, although each embodiment demonstrated the case where it imaged using the fisheye camera C, you may comprise so that the marker MK may be imaged using what is called a wide-angle camera besides this. In this case, the fisheye image distortion correction processing by the panorama converting unit 20 and the distortion correcting unit 21 according to each embodiment is not necessary. In addition, for the detection / recognition of the marker MK in the wide-angle image acquired from the wide-angle camera, for example, a technique described in Japanese Patent Application Laid-Open No. 2008-61172 or Japanese Patent Application Laid-Open No. 2010-245901 can be used.

  Moreover, in each embodiment, although the position of the marker MK (article OB) was displayed by the display using the display D, you may comprise so that the said position may be notified with an audio | voice other than this.

  Furthermore, a program corresponding to the position detection process according to each embodiment is recorded on a recording medium such as an optical disk, or is acquired and recorded via a network such as the Internet, and is stored in a general-purpose microcomputer or the like. It is also possible to cause the microcomputer or the like to function as the processing unit 2 according to the embodiment by reading and executing the above.

  As described above, the present invention can be used in the field of position detection systems, and particularly detects the position of a plurality of articles OB present in a large room or the like without going to the position of the article OB. When applied to the field of position detection systems, particularly remarkable effects can be obtained.

1, 5 Interface 2 Processing unit 3 Operation unit 4 Memory 20 Panorama conversion unit 21 Distortion correction unit 22 Marker search unit d
23 Marker rectangle correction unit 24 Decoding unit 25 Coordinate conversion unit S, SS Position detection system C, C1, C2, C3, C4 Fisheye camera PC, PCC processing device D Display DH, DH1, DH2, DH3, DH4, DH5 Cart OB , OB1, OB2, OB3, OB4, OB5 Article MK, MK1, MK2, MK3, MK4, MK5 Marker F Frame part ID Article identification data part MP Sketch P, P1, P2, P3, P4, P5 Position mark EB Error bit D _FE fisheye image data FG fisheye image MG corrected fisheye image

Claims (10)

Acquisition means for acquiring wide-angle image information corresponding to a wide-angle image obtained by imaging the article with an identification index for identifying the article together with the identification index by an imaging unit capable of wide-angle imaging;
Extraction means for extracting identification index information corresponding to the identification index from the acquired wide-angle image information;
Position detection means for detecting a relative position of the article with respect to the imaging means based on the extracted identification index information;
Recognizing means for recognizing the identification index based on the extracted identification index information;
Generating means for generating article information indicating the article and position information indicating the position of the article based on the detected position, the position of the imaging means itself, and the recognized identification index;
Output means for outputting the generated article information and the position information to a notification means for notifying the position of the article based on the position information;
A position detection device comprising: The position detection device according to claim 1,
The position detection apparatus according to claim 1, wherein the imaging unit is a fish-eye imaging unit that includes a fish-eye lens and outputs a fish-eye image as the wide-angle image. In the position detection device according to claim 1 or 2,
The identification index is
An article identifying unit for identifying the article to which the identification index is attached;
A frame that defines the outer edge of the identification index;
A position detection device configured to be configured to be capable of imaging by the imaging unit. In the position detection device according to claim 3,
The position detection device according to claim 1, wherein the frame portion has a continuous polygonal shape surrounding the article identification portion. In the position detection device according to claim 3 or 4,
The position detection device, wherein the article identification unit of the identification index also serves as a differentiation index for distinguishing the identification index from other indices. In the position detection device according to claim 3 or 4,
The position detection device according to claim 1, wherein the identification index further includes a discrimination index for distinguishing the identification index from other indices so that the image can be imaged. In the position detection device according to any one of claims 1 to 6,
The notification means is a display means for displaying a position of the article together with a diagram showing a region where the article exists based on the article information and the position information;
The position detection apparatus, wherein the generation means generates the article information and the position information for display on the display means. The position detection device according to any one of claims 1 to 7,
The imaging means for outputting the wide-angle image information to the acquisition means;
An imaging apparatus comprising: An imaging means for imaging the article with an identification index for identifying the article together with the identification index by wide-angle imaging, and outputting wide-angle image information corresponding to the wide-angle image obtained by the imaging, and the article A position detecting method for notifying a position, and a position detecting method executed in a position detecting device connected to the position detecting device;
An acquisition step of acquiring the output wide-angle image information;
An extraction step of extracting identification index information corresponding to the identification index from the acquired wide-angle image information;
A position detection step of detecting a relative position of the article with respect to the imaging means based on the extracted identification index information;
A recognition step for recognizing the identification index based on the extracted identification index information;
A generating step of generating article information indicating the article and position information indicating the position of the article based on the detected position, the position of the imaging unit itself, and the recognized identification index;
An output step of outputting the generated article information and the position information to the notification means for notifying the position of the article based on the position information;
A position detection method comprising: An imaging means for imaging the article with an identification index for identifying the article together with the identification index by wide-angle imaging, and outputting wide-angle image information corresponding to the wide-angle image obtained by the imaging, and the article A notification means for notifying the position; and a computer included in the position detection device connected to
Acquisition means for acquiring the output wide-angle image information;
Extraction means for extracting identification index information corresponding to the identification index from the acquired wide-angle image information;
Position detecting means for detecting a relative position of the article with respect to the imaging means based on the extracted identification index information;
Recognizing means for recognizing the identification index based on the extracted identification index information;
Generating means for generating article information indicating the article and position information indicating the position of the article based on the detected position, the position of the imaging means itself, and the recognized identification index; and
Output means for outputting the generated article information and the position information to the notification means for notifying the position of the article based on the position information;
A position detection program that functions as a computer program.