JP2017184136A5

JP2017184136A5 -

Info

Publication number: JP2017184136A5
Application number: JP2016071862A
Authority: JP
Filing date: 2016-03-31
Publication date: 2019-05-09
Anticipated expiration: 2036-03-31

Description

本発明はこのような問題点に鑑みなされたもので、撮影装置の位置及び姿勢の推定を安定して行うことを目的とする。 The present invention has been made in view of such problems, and an object thereof to perform position and orientation estimation of the shooting device stably.

そこで、本発明は、情報処理であって、撮影装置により得られた撮影画像と、前記撮影装置の位置及び姿勢の導出に用いられる指標情報と、前記撮影装置の位置及び姿勢と、に基づいて、前記撮影画像に対応する撮影範囲の環境の変化を検出する検出手段と、前記環境の変化が検出された場合に、前記変化が検出されたことを通知する通知情報を出力する出力手段とを有することを特徴とする。 Accordingly, the present invention is an information processing, the basis of the captured image obtained by the imaging apparatus, the index information used to derive the position and orientation of the shooting device, the position and orientation of the imaging device, the A detection unit that detects a change in the environment of the imaging range corresponding to the captured image; and an output unit that outputs notification information that notifies that the change is detected when the change in the environment is detected. It is characterized by having.

本発明によれば、撮影装置の位置及び姿勢の推定を安定して行うことができる。 According to the present invention, the position and orientation estimation of the shooting device can be stably performed.

情報処理装置１００は、ソフトウェア構成として、取得部２０１と、記憶部２０２と、検出部２０３と、生成部２０４と、表示処理部２０５と、を有している。取得部２０１は、撮影装置（撮影部）としてのカメラ２１０から撮影画像を取得する。なお、カメラ２１０は表示部１０５のＨＭＤに備え付けられている。すなわち、情報処理装置１００とカメラ２１０は、情報処理システムとして機能する。ここで、撮影画像は、濃淡画像であるものとする。記憶部２０２は、指標マップを記憶している。ここで、指標マップは、撮影範囲に存在する物体等の複数の指標の配置が記述された地図情報である。本実施形態においては、記憶部２０２は、指標マップとして、カメラ２１０により撮影された所定の撮影範囲の撮影画像（以下、キーフレームと称する）を複数記憶している。ここで、キーフレームは濃淡画像である。さらに、指標マップにおいて、各キーフレームを撮影した時のカメラ２１０の位置及び姿勢（以下、位置姿勢と称する）を示す情報が、キーフレームに対応付けて記憶されている。ここで、キーフレームは、基準画像の一例である。また、指標マップは、基準画像に関する指標情報、すなわち撮影装置の位置及び姿勢の導出に用いられる指標情報の一例である。 The information processing apparatus 100 includes an acquisition unit 201, a storage unit 202, a detection unit 203, a generation unit 204, and a display processing unit 205 as software configurations. The acquisition unit 201 acquires a photographed image from a camera 210 as a photographing apparatus (photographing unit). The camera 210 is provided in the HMD of the display unit 105. That is, the information processing apparatus 100 and the camera 210 function as an information processing system. Here, the captured image is assumed to be a gray-scale image. The storage unit 202 stores an index map. Here, the index map is map information in which the arrangement of a plurality of indexes such as an object present in the imaging range is described. In the present embodiment, the storage unit 202 stores a plurality of photographed images (hereinafter, referred to as key frames) of a predetermined photographing range photographed by the camera 210 as an index map. Here, the key frame is a gray-scale image. Furthermore, in the index map, information indicating the position and orientation (hereinafter referred to as position and orientation) of the camera 210 when each key frame is photographed is stored in association with the key frame. Here, the key frame is an example of a reference image. Also, the index map, the index information on the reference image, that is, an example of a shooting index information used in the position and derivation of the posture of the shadow device.

以上、上述した各実施形態によれば、撮影装置の位置及び姿勢の推定を安定して行うことができる。 As described above, according to the above-described embodiments, the position and orientation estimation of the shooting device can be stably performed.

Claims

A captured image obtained by the imaging apparatus, wherein the index information used to derive the position and orientation of the shadow device shooting, the position and orientation of the imaging device, based on the shooting range of the environment corresponding to the captured image Detection means for detecting a change in
An information processing apparatus comprising: output means for outputting notification information notifying that the change has been detected when a change in the environment has been detected.

The information processing apparatus according to claim 1, wherein the detection unit detects a change in an arrangement of an object in a captured image as the change.

The information processing apparatus according to claim 1, wherein the detection unit detects an object newly appearing in a captured image or an object that has disappeared from the captured image as the change.

The information processing apparatus according to claim 2, wherein the output unit further outputs information indicating an object related to the change.

The information processing apparatus according to any one of claims 1 to 4, wherein the output unit outputs an image indicating an area where the change is detected as the notification information.

A captured image obtained by the imaging apparatus, wherein the index information used to derive the position and orientation of the shadow device shooting, the position and orientation of the imaging device, based on the shooting range of the environment corresponding to the captured image Detection means for detecting a change in
What is claimed is: 1. An information processing apparatus comprising: output means for outputting instruction information to return to a state before change when the change is detected.

Specifying means for specifying a method of returning to a state before the change based on the change detected by the detection means and the instruction information;
And generating means for generating the indication information including the method specified by the specifying means,
7. The information processing apparatus according to claim 6, wherein the output unit outputs the instruction information generated by the generation unit.

The detection means detects, as the change, a change in the arrangement of an object present in the imaging range;
8. The information processing apparatus according to claim 7, wherein the specifying unit specifies at least one of the movement direction and the movement amount of the object as a method of returning to a state before the change.

A captured image obtained by the imaging apparatus, wherein the index information used to derive the position and orientation of the shadow device shooting, the position and orientation of the imaging device, based on the shooting range of the environment corresponding to the captured image Detection means for detecting a change in
Selection means for selecting an operation mode;
Outputting means for outputting instruction information to return to a state before change when the change is detected and the first operation mode is selected;
An information processing apparatus comprising: updating means for updating the index information based on a state after the change when the change is detected and a second operation mode is selected.

The operation mode further includes a first prediction unit that predicts an operation cost for returning to a state before the change, and the selection unit is based on the operation cost predicted by the first prediction unit. 10. The information processing apparatus according to claim 9, wherein

The information processing apparatus further comprises a second prediction unit that predicts an operation cost for updating the index information,
The information processing apparatus according to claim 9, wherein the selection unit selects the operation mode based on the operation cost predicted by the second prediction unit.

10. The information processing apparatus according to claim 9, wherein the selection unit selects the operation mode based on the content of the change detected by the detection unit.

10. The apparatus according to claim 9, wherein the selecting unit selects the operation mode based on the estimation accuracy of the position and orientation of the imaging apparatus using the index information corresponding to the state before and after the change. The information processing apparatus according to claim 1.

An information processing system comprising the information processing apparatus according to any one of claims 1 to 13, a photographing unit, and a display unit.

An information processing method executed by the information processing apparatus;
A captured image obtained by the imaging apparatus, wherein the index information used to derive the position and orientation of the shadow device shooting, the position and orientation of the imaging device, based on the shooting range of the environment corresponding to the captured image Detecting the change of
An output step of outputting notification information notifying that the change has been detected when a change in the environment has been detected.

An information processing method executed by the information processing apparatus;
A captured image obtained by the imaging apparatus, wherein the index information used to derive the position and orientation of the shadow device shooting, the position and orientation of the imaging device, based on the shooting range of the environment corresponding to the captured image Detecting the change of
An output step of outputting instruction information to return to a state before change when the change is detected.

An information processing method executed by the information processing apparatus;
A captured image obtained by the imaging apparatus, wherein the index information used to derive the position and orientation of the shadow device shooting, the position and orientation of the imaging device, based on the shooting range of the environment corresponding to the captured image Detecting the change of
A selection step of selecting an operation mode;
Outputting an instruction to return to the state before the change when the change is detected and the first operation mode is selected;
6. An information processing method comprising: updating the index information based on a state after the change when the change is detected and a second operation mode is selected.

A program for causing a computer to function as each means of the information processing apparatus according to any one of claims 1 to 13.