JP2017021328A - カメラの空間特性を決定する方法及びシステム - Google Patents
カメラの空間特性を決定する方法及びシステム Download PDFInfo
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Abstract
Description
(xi,yi)→(Xi,Yi,Zi)
式中、(xi,yi)は画像中の2D座標を表し、(Xi,Yi,Zi)は実世界における3D座標を表す。
式中、fはカメラの焦点距離であり、(xi,yi,f)は画像中の点の3D座標を表し、(xs,ys,zs)はシーン中の対応する点の3D座標を表す。
CM=CO+OM,
xsi+ysj+zsk=Txi+Tyj+Tzk+XsI+YsJ+ZsK,
xs=Tx+XsI.i+YsJ.i+ZsK.i,
これは同次座標を用いて下記のように記され得る。
CM=OM−OC,
xsi+ysj+zsk=(Xs−XC)I+((YS−YSC)J+(ZS−ZC)K,
xs=(Xs−XC)I.i+((Ys−YC)J.i+((Zs−ZC)K.i,
xcam=R(X−C〜).
この行列Pは11自由度を有し、このうち5は三角キャリブレーション行列Kからであり、3はRからであり、3はC~からである。Pが3x4行列であり、左の3x3部分行列KRは正則であることに留意されたい。Pは、シーン中の点と対応する画像中の点とを用いて推定され得る。キャリブレーション行列Kが既知である場合、この推定が大幅に単純化される。しかしながら、十分な数の点のペアを用いて、キャリブレーション行列が未知であってもPが推定され得る。
d=L1−L2
且つ、
h1L1=h2L2=h2(L1−d)
よって、
結果として、下記の焦点距離の方程式となる。
従って、異なる2つの瞬間で捕捉したグラフィックコード間の所定の距離で、グラフィックコードの2つの画像を捕捉することによって、カメラが焦点距離を算出できる。
Claims (15)
- カメラの位置を決定する方法であって、
モバイルデバイスの地理座標を、前記モバイルデバイス自体において決定及び登録すること、
前記モバイルデバイスの前記地理座標を表すパターンを前記モバイルデバイスのディスプレイ上に提示すること、
前記地理座標を提示しているときに、前記モバイルデバイスの前記ディスプレイの画像を、前記カメラを用いて捕捉すること、
前記捕捉された前記モバイルデバイスの前記ディスプレイの画像中の前記パターンを、前記カメラ内で地理座標に変換すること、及び
前記捕捉された画像中の前記パターンから変換された前記地理座標に基づいて、前記カメラの前記位置を前記カメラ内で決定すること
を含む、方法。 - 前記モバイルデバイスの前記ディスプレイ上に提示された前記パターンの2つの識別可能な特徴間の距離を特定する値を表すパターンを、前記モバイルデバイスの前記ディスプレイ上に提示することを更に含む、請求項1に記載の方法。
- 前記モバイルデバイスが向けられている地理上の方向を表すパターンを、前記モバイルデバイスの前記ディスプレイ上に提示することを更に含む、請求項1又は2に記載の方法。
- 前記パターンが二次元コードであり、このパターンが、前記モバイルデバイスの前記ディスプレイ上のパターンによって表されるデータを表す、請求項1から3の何れか一項に記載の方法。
- 前記パターンがQRコードである、請求項1から4の何れか一項に記載の方法。
- 前記カメラの前記位置を決定することが、少なくとも、前記捕捉された画像内で測定される前記パターンの物理的特徴に基づいて、前記捕捉された画像中の前記パターン中の2つの識別可能な特徴間の前記距離を特定する前記値に基づいて、及び、前記モバイルデバイスの前記地理上の方向に基づいて、前記モバイルデバイスによって提示された前記パターンから読み出された前記位置を調整することによって、前記カメラの前記位置を算出することを含む、請求項1から3の何れか一項に記載の方法。
- 前記カメラの前記位置を決定することが、前記カメラの前記位置を、前記モバイルデバイスによって提示された位置として決定することを含む、請求項1に記載の方法。
- 前記カメラの前記位置を前記カメラ内に記憶することを更に含む、請求項1から7の何れか一項に記載の方法。
- 前記カメラの前記位置をカメラ管理サーバ内に記憶することを更に含む、請求項1から7の何れか一項に記載の方法。
- カメラとモバイルデバイスとを含み、且つ前記カメラの空間特性を決定するためのシステムであって、
前記モバイルデバイスが、位置センサ、前記位置センサを用いて検出された位置を表すパターンを生成するように構成されたパターン生成器、及び前記パターンを視覚的に提示するように構成されたディスプレイを備え、
前記カメラが、シーンの画像を捕捉するための画像センサ、前記モバイルデバイスの前記パターン生成器によって生成され前記画像センサによって捕捉された前記パターン中の情報を解釈するように構成されたパターン解釈器、前記パターン解釈器による前記解釈から前記位置の情報を抽出するように構成された位置抽出器、及び、前記位置抽出器によって抽出された前記位置に基づいて前記カメラの前記位置を設定するように構成されたカメラ位置設定器を備える、システム。 - 前記パターン生成器が、前記モバイルデバイスの前記ディスプレイ上に提示された前記パターンの2つの識別可能な特徴間の距離を特定する情報を含むパターンを生成するように構成されている、請求項10に記載のシステム。
- 前記モバイルデバイスが、前記モバイルデバイスが向けられている方向を検出するように構成された方向センサを更に含み、前記パターン生成器が、検出されたそのような方向を特定する情報を含むパターンを生成するように構成されている、請求項10又は11に記載のシステム。
- 前記モバイルデバイスがスマートフォン又はタブレットコンピュータである、請求項10から12の何れか一項に記載のシステム。
- 前記カメラ位置設定器が、前記パターンの前記画像に基づいて、前記パターンの2つの識別された特徴の間の前記距離の前記情報に基づいて、前記モバイルデバイスの前記方向に基づいて、及び、前記モバイルデバイスの前記位置に基づいて、前記カメラの前記位置を算出するように構成された位置計算機を含む、請求項10から12の何れか一項に記載のシステム。
- 前記カメラ位置設定器が、前記カメラの前記位置を、前記モバイルデバイスによって表示された前記パターン中に提示された前記位置と同じ位置に設定するように構成されている、請求項10に記載のシステム。
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WO2022080087A1 (ja) * | 2020-10-13 | 2022-04-21 | 株式会社日立製作所 | 情報処理システム及び情報処理装置 |
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JP6473475B2 (ja) | 2019-02-20 |
CN107346406A (zh) | 2017-11-14 |
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EP3096290B1 (en) | 2018-07-18 |
KR20180081028A (ko) | 2018-07-13 |
CN106169184A (zh) | 2016-11-30 |
TWI718150B (zh) | 2021-02-11 |
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EP3242245B1 (en) | 2018-06-06 |
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EP3242245A1 (en) | 2017-11-08 |
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