JP2021001788A - Position acquisition device, position acquisition method and program - Google Patents

Abstract

To improve accuracy of position acquisition of existence emitting light in a sensor that receives the light using an image sensor or the like.SOLUTION: A server 200 determines that for a plurality of image positions corresponding to one ID, a luminance value is more than or equal to a preset value and an image position of a maximum luminance value is light from a light source 102a or the like when there is a member or the like which reflects light around an installation position of the light source 102a or the like and reflected light other than light from the light source 102a or the like is detected for the one ID. Further, the server 200 selects the image position of the maximum luminance value to use for calculation of the installation position of the light source 102a or the like.SELECTED DRAWING: Figure 1

Description

The present invention relates to a position acquisition device, a position acquisition method and a program.

In recent years, a technique of modulating information with brightness and color in the wavelength region of visible light and transmitting information has been considered.

There is also a technique in which the image sensor simultaneously receives modulated visible light in parallel and associates the received position in the image sensor with the demodulated information (see, for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 2003-179556

However, in the above technology, when there is a member or the like that reflects light around the installation position of the communication marker that transmits information, in the device on the receiving side, the light received by the image sensor is the communication marker. It is foreseen that it will be difficult to distinguish between light emission and reflected light.

The present invention has been made in view of such problems, and an object of the present invention is to improve the accuracy of acquiring the position of an entity that emits light in a sensor that receives light by an image sensor or the like.

In order to achieve the above object, the position acquisition device according to the present invention is
A light receiving means having a light receiving surface for receiving light,
A determination means for determining whether or not there are a plurality of light emitting regions having a brightness equal to or higher than a set value within a set range on the light receiving surface.
When it is determined by the determination means that there are a plurality of light emitting regions having brightness equal to or higher than the set value, the acquisition means for acquiring the position of the brightest light emitting region on the light receiving surface and the acquisition means.
It is characterized by having.

In order to achieve the above object, the position acquisition method according to the present invention is
A determination step for determining whether or not there are a plurality of light emitting regions having a brightness equal to or higher than the set value within the set range on the light receiving surface that receives light in the light receiving unit.
When it is determined in the determination step that there are a plurality of light emitting regions having brightness equal to or higher than the set value, the acquisition step of acquiring the position of the brightest light emitting region on the light receiving surface, and the acquisition step.
It is characterized by including.

In order to achieve the above object, the program according to the present invention
Computer,
A determining means for determining whether or not there are a plurality of light emitting regions having a brightness equal to or higher than a set value within a set range on the light receiving surface of the light receiving surface having a light receiving surface for receiving light.
An acquisition means for acquiring the position of the brightest light emitting region on the light receiving surface when it is determined by the determination means that there are a plurality of light emitting regions having brightness equal to or higher than the set value.
It is characterized by functioning as.

According to the present invention, it is possible to improve the accuracy of acquiring the position of an entity that emits light.

It is a figure which shows an example of the visible light communication system which concerns on embodiment of this invention. It is a figure which shows an example of the configuration of the server which concerns on the same embodiment. It is a figure which shows an example of the light emitting region which concerns on the same embodiment. It is a flowchart which shows an example of the image position selection by the server which concerns on this embodiment. It is a flowchart which shows an example of the installation position calculation by the server which concerns on the same embodiment.

Hereinafter, the visible light communication system according to the embodiment of the present invention will be described with reference to the drawings.

FIG. 1 is a diagram showing a configuration of a visible light communication system. As shown in FIG. 1, the visible light communication system 1 is appropriately referred to as “device 100” when the devices 100a, 100b, 100c (hereinafter, devices 100a, 100b, 100c) installed in the space 500 are not limited. ), And a server 200 corresponding to the position acquisition device is included.

The devices 100a, 100b and 100c are installed in the space 500. A light source 102a, which is a communication marker, is attached to the device 100a, a light source 102b, which is a communication marker, is attached to the device 100b, and a light source 102c, which is a communication marker, is attached to the device 100c (hereinafter, a light source). When each of 102a, 102b, and 102c is not limited, it is appropriately referred to as "light source 102"). The server 200 is equipped with cameras 201a, 201b, 201c, and 201d corresponding to the light receiving means and the imaging means (hereinafter, when the cameras 201a, 201b, 201c, and 201d are not limited, the "camera 201" is appropriately used. Called). The light source 102 includes an LED (Light Emitting Diode) (not shown). The light source 102 corresponds to the position information acquisition target.

In the present embodiment, the light source 102 attached to the device 100 transmits information by emitting light corresponding to various information of the transmission target such as the state of the device 100. On the other hand, the server 200 demodulates the change in the emission color in the image of the light obtained by the time-series continuous imaging of the camera 201 to acquire the information emitted by the light source 102.

In this embodiment, the positions and imaging directions of the cameras 201a to 201d are known. The server 200 sets a combination (camera pair) of two cameras 201 for the cameras 201a to 201d, and sets the position of the image (two-dimensional coordinate information: image position) obtained by imaging for each camera pair in the space 500. Holds a conversion matrix for conversion to the internal position (installation position).

FIG. 2 is a diagram showing an example of the configuration of the server 200. As shown in FIG. 2, the server 200 includes a control unit 202, an image input unit 204, a memory 205, an operation unit 206, a display unit 207, and a communication unit 208. Further, cameras 201a to 201d are attached to the server 200 via wiring.

The camera 201a includes a lens 203a, the camera 201b includes a lens 203b, the camera 201c includes a lens 203c, and the camera 201d includes a lens 203d (hereinafter, each of the lenses 203a, 203b, 203c, 203d is limited). If not, it is appropriately referred to as "lens 203"). The lens 203 is composed of a zoom lens or the like. The lens 203 moves by a zoom control operation from the operation unit 206 and a focusing control by the control unit 202. The movement of the lens 203 controls the imaging angle of view and the optical image captured by the camera 201. The transformation matrix changes according to the movement of the lens 203.

The cameras 201a to 201d are composed of a plurality of light receiving elements regularly arranged two-dimensionally on the light receiving surface. The light receiving element is, for example, an imaging device such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor). The cameras 201a to 201d capture (receive) an optical image received through the lens 203 at an imaging angle of view within a predetermined range based on a control signal from the control unit 202, and the image signal within the imaging angle of view. Is converted to digital data to generate a frame. Further, the cameras 201a to 201d continuously perform imaging and frame generation in time, and output the continuous frames to the image input unit 204 in the server 200.

A frame (digital data) output from the camera 201 is input to the image input unit 204 based on the control signal from the control unit 202.

The control unit 202 is composed of, for example, a CPU (Central Processing Unit). The control unit 202 executes software processing according to a program stored in the memory 205 (for example, a program for realizing the operation of the server 200 shown in FIGS. 4 and 5 described later), so that various types of the server 200 are provided. Control functions.

The memory 205 is, for example, a RAM (Random Access Memory) or a ROM (Read Only Memory). The memory 205 stores various information (programs and the like) used for control and the like in the server 200.

The operation unit 206 is composed of a numeric keypad, a function key, and the like, and is an interface used for inputting the operation contents of the user. The display unit 207 is composed of, for example, an LCD (Liquid Crystal Display), a PDP (Plasma Display Panel), an EL (Electro Luminescence) display, or the like. The display unit 207 displays an image according to the image signal output from the control unit 202. The communication unit 208 is, for example, a LAN (Local Area Network) card. The communication unit 208 communicates with an external communication device based on the control of the communication control unit 242.

The control unit 202 includes an image processing unit 231, a brightness determination unit 232 corresponding to the determination means, an image position acquisition unit 234 corresponding to the acquisition means, an installation position acquisition unit 236, and a communication control unit 242. It is composed of.

The image processing unit 231 performs limb darkening correction and distortion correction to display the frame (digital data) output from the camera 201 and input to the image input unit 204 as a live view on the display unit 207, and image quality. And adjust the image size. Further, when the control signal based on the recording instruction operation from the operation unit 206 is input, the image processing unit 231 displays the display within the imaging angle of view of the camera 201 at the time of the recording instruction or displayed on the display unit 207. It has a function of encoding and filing an optical image within the range by a compression coding method such as JPEG (Joint Photographic Experts Group).

The brightness determination unit 232 detects the position (two-dimensional coordinate information: image position) of the image of the light source 102 in each image obtained by imaging the cameras 201a to 201d. Here, the light sources 102a, 102b, and 102c in the space 500 circulate in a three-color pattern of R (red), G (green), and B (blue) modulated by an ID (Identification) that can uniquely identify oneself. It emits light that changes in a target manner. The brightness determination unit 232 detects the light of the cyclic three-color pattern included in each image obtained by the imaging of the cameras 201a to 201d. Further, the luminance determination unit 232 attempts to detect the ID corresponding to the three-color emission pattern and demodulate the ID.

Here, when there is a member or the like that reflects light around the installation position of the light source 102, the reflected light or the like may be detected in addition to the light from the light source 102 for one ID. FIG. 3 is a diagram showing an example of a light emitting region on the light receiving surface of one camera 102. In FIG. 3, the light emitting regions 300a, 300b, and 300c on the light receiving surface 250a are light emitting regions (image positions) corresponding to one ID. The light emitting region 300a is a light emitting region corresponding to the light from the light source 102, and the light emitting regions 300b and 300c are light emitting regions corresponding to the reflected light. In such a case, the luminance determination unit 232 detects the image position for each of the plurality of light emitting regions corresponding to one ID.

When the brightness determination unit 232 detects a plurality of image positions corresponding to one ID, the brightness determination unit 232 calculates the brightness values for the plurality of image positions corresponding to one ID and determines the brightness. Further, the image position acquisition unit 234 determines that the brightness value is equal to or higher than the set value and the image position having the maximum brightness value is the light from the light source 102 for the plurality of image positions corresponding to one ID. , Select the image position with its maximum brightness value.

The installation position acquisition unit 236 sets a combination (camera pair) of two cameras 201 for the cameras 201a to 201d. There are 6 (6 ways) patterns of combinations (camera pairs) of any two cameras 201 from the four cameras 201.

The installation position acquisition unit 236 uses the image position of the light from the light source 102 to set the image position of the maximum brightness value acquired by the brightness determination unit 232 with the brightness value equal to or higher than the set value for each camera pair. In addition, an attempt is made to acquire a region of light modulated by the same ID from both of the images obtained by imaging the two cameras 201 included in the camera pair. Then, when the installation position acquisition unit 236 can acquire the light source 102, it is considered that the light source 102 corresponding to the ID can be acquired.

Next, for each camera pair, the installation position acquisition unit 236 positions the image of the acquired light source 102 (Xga2, Yga2) on the light receiving surface of one of the two cameras 201 included in the camera pair. ) And the position (Xgb2, Ygb2) of the acquired image of the light source 102 on the light receiving surface of the other camera 201. Further, the installation position acquisition unit 236 installs the light source 102 in the space 500 by using the combination of the positions (Xga2, Yga2) and (Xgb2, Ygb2) of both images and the transformation matrix corresponding to the camera pair. The position (Xk2, Yk2, Zk2) is calculated.

Next, the operation of the server 200 will be described with reference to the flowchart. FIG. 4 is a flowchart showing an example of image position selection by the server 200.

The plurality of cameras 201 image the space 500 (step S101). The brightness determination unit 232 in the control unit 202 acquires the image position of the light emitting region in each image obtained by imaging the plurality of cameras 201. Further, the luminance determination unit 232 attempts to acquire an ID corresponding to the image position (step S102).

Next, the brightness determination unit 232 selects one camera 201 out of the plurality of cameras 201 (step S103).

Next, the luminance determination unit 232 recognizes the image position corresponding to one ID in the image captured by the one camera 201 selected in step S103. Further, the luminance determination unit 232 measures the luminance value of the image position corresponding to one ID, and there is only one image position in which the luminance value is equal to or more than a preset threshold value, that is, equal to or more than the set value. It is determined whether or not to do so (step S104). The brightness value may be stored in the memory 205 together with the ID, the identification information of the camera 102 that has taken the image, and the date and time of the image.

When there is only one image position whose brightness value is equal to or higher than the set value for the image position corresponding to one ID (step S104; YES), the image position acquisition unit 234 has the brightness value equal to or higher than the set value. One image position is selected (step S105).

On the other hand, when there is not only one image position whose brightness value is equal to or higher than the set value for the image position corresponding to one ID (step S104; NO), the brightness determination unit 232 is the one camera 201 selected in step S103. In the image captured by the above, it is determined whether or not there are a plurality of image positions whose brightness values are equal to or higher than the set value within a predetermined range for the image positions corresponding to one ID (step S106).

When there are a plurality of image positions having a brightness value equal to or higher than the set value within a predetermined range for the image position corresponding to one ID (step S106; YES), the image position acquisition unit 234 has a brightness value equal to or higher than the set value. Among the plurality of image positions, the image position having the maximum brightness value is selected (step S107).

Next, the image position acquisition unit 234 excludes one or more image positions not selected in step S107 from the calculation target of the installation position (step S108).

Next, the image position acquisition unit 234 notifies the user by displaying on the display unit 207 or the like that one or a plurality of image positions corresponding to one ID are excluded (step S109). As a result, the user can remove an object that causes reflection or the like, set an area excluded from the calculation of the installation position in the space 500, and the like.

After selecting one image position whose luminance value is equal to or greater than the set value in step S105, and after determining in step S106 that there are no plurality of image positions whose luminance value is equal to or greater than the set value (step S106; NO), or After notifying that the image position is excluded from the calculation target of the installation position in step S109, the brightness determination unit 232 determines whether or not the selection in step S103 is completed for all the cameras 201 (step S110). .. When the selection in step S103 is completed for all the cameras 201 (step S110; YES), a series of operations ends. On the other hand, if the selection of the camera 201 in step S103 is not completed (step S110; NO), the operations after step S103 are repeated.

After the above-mentioned image position selection operation, the installation position of the light source 102 is calculated. FIG. 5 is a flowchart showing an example of installation position calculation by the server 200.

The installation position acquisition unit 236 selects one ID corresponding to the image position selected in steps S105 and S107 of FIG. 4 (step S201).
Next, the installation position acquisition unit 236 selects a camera pair that has imaged the light source 102 corresponding to one ID selected in step S201 (step S202). When a plurality of camera pairs that image the light source 102 corresponding to the one ID selected in step S201 can be set, the installation position acquisition unit 236 may select one camera pair. For example, the installation position acquisition unit 236 may select two cameras 201 corresponding to two image positions having high brightness values as a camera pair.

Next, the installation position acquisition unit 236 sets the image position corresponding to one ID selected in step S201 among the image positions included in the images captured by the two cameras 102 in the camera pair selected in step S202. Based on this, the installation position of the light source 102 is calculated (step S203). Here, the installation position acquisition unit 236 refers to the position of the acquired image of the light source 102 on the light receiving surface of one of the two cameras 201 included in the camera pair and the light receiving surface of the other camera 201. , The position of the image of the acquired light source 102 is acquired. Further, the installation position acquisition unit 236 calculates the installation position of the light source 102 in the space 500 by using the combination of the positions of both images and the transformation matrix corresponding to the camera pair.

After that, the installation position acquisition unit 236 determines whether or not all the IDs have been selected in step S201 (step S204). When all IDs are selected (step S204; YES), a series of operations ends. On the other hand, when an unselected ID exists (step S204; NO), the operations after step S201 are repeated.

As described above, in the present embodiment, the server 200 has a member or the like that reflects light around the installation position of the light source 102, and the reflected light other than the light from the light source 102 is detected for one ID. In this case, it is determined that the brightness value is equal to or higher than the set value and the image position having the maximum brightness value is the light from the light source 102 for the plurality of image positions corresponding to one ID, and the maximum brightness value is determined. The image position of the brightness value is selected and used to calculate the installation position of the light source 102. As a result, the image position such as reflected light having a low brightness value can be excluded from the calculation of the installation position of the light source 102, and the accuracy of the calculation can be improved.

The present invention is not limited to the description and drawings of the above-described embodiment, and it is possible to appropriately modify the above-described embodiments and drawings.

For example, in the above-described embodiment, it is determined that the brightness value is equal to or higher than the set value and the image position having the maximum brightness value is the light from the light source 102 for the plurality of image positions corresponding to one ID. However, for example, when there are a plurality of image positions whose luminance values are equal to or higher than the set value, the image position closest to the center is determined to be the light from the light source 102 in view of the fact that the closer to the center of the image, the smaller the distortion. You may.

Further, if it is the maximum luminance value, it may be determined that the corresponding image position is the light from the light source 102.

Further, in the above-described embodiment, the server 200 selects the camera pair having the highest reliability of the light source 102, and calculates the installation position of the light source 102 based on the image taken by the camera pair. However, the method of calculating the installation position is not limited to this.

Further, the light source 102 and the light source 102 are not limited to LEDs. For example, a light source may be configured in a part of an LCD, a PDP, an EL display, or the like that constitutes a display device.

Further, the server 200 may be any device as long as the camera can be attached.

Further, in the above embodiment, the program to be executed is a computer-readable recording such as a flexible disk, a CD-ROM (Compact Disc-Read Only Memory), a DVD (Digital Versatile Disc), or an MO (Magneto-Optical Disc). A system that executes the above-mentioned processing may be configured by storing the program in a medium, distributing the program, and installing the program.

Further, the program may be stored in a disk device or the like of a predetermined server on a network such as the Internet, and may be superimposed on a carrier wave and downloaded.

If the above functions are shared by the OS (Operating System) or realized by collaboration between the OS and the application, only the parts other than the OS may be stored in the medium and distributed. Well, you may also download it.

Although the preferred embodiment of the present invention has been described above, the present invention is not limited to the specific embodiment, and the present invention includes the invention described in the claims and the equivalent range thereof. Is done. Hereinafter, the inventions described in the claims of the original application of the present application will be added.

(Appendix 1)
A light receiving means having a light receiving surface for receiving light,
A determination means for determining whether or not there are a plurality of light emitting regions having a brightness equal to or higher than a set value within a set range on the light receiving surface.
When it is determined by the determination means that there are a plurality of light emitting regions having brightness equal to or higher than the set value, the acquisition means for acquiring the position of the brightest light emitting region on the light receiving surface and the acquisition means.
A position acquisition device comprising.

(Appendix 2)
When it is determined that there are a plurality of light emitting regions having a brightness equal to or higher than the set value, the determination means further determines whether or not the plurality of light emitting regions receive light based on the same identification information. And
The acquisition means acquires the position of the brightest light emitting region on the light receiving surface when the determination means determines that the plurality of light emitting regions are regions that have received light based on the same identification information. The position acquisition device according to Appendix 1, which comprises the above.

(Appendix 3)
The light receiving means includes an imaging means.
The light receiving surface is a light receiving surface that captures a preset space.
The position acquisition device according to Appendix 1 or 2, wherein the acquisition means acquires a position that emits the brightest light in the space as the position of the brightest light emitting region.

(Appendix 4)
The appendix is further characterized in that the acquisition means acquires a multidimensional position of the position where the brightest light is emitted from a plurality of images in which the preset space is captured from different angles by the imaging means. The position acquisition device according to 3.

(Appendix 5)
A plurality of the imaging means are provided.
The position acquisition device according to Appendix 4, wherein the plurality of images are images captured by each of the plurality of imaging means.

(Appendix 6)
A determination step for determining whether or not there are a plurality of light emitting regions having a brightness equal to or higher than the set value within the set range on the light receiving surface that receives light in the light receiving unit.
When it is determined in the determination step that there are a plurality of light emitting regions having brightness equal to or higher than the set value, the acquisition step of acquiring the position of the brightest light emitting region on the light receiving surface, and the acquisition step.
A position acquisition method characterized by including.

(Appendix 7)
Computer,
A determining means for determining whether or not there are a plurality of light emitting regions having a brightness equal to or higher than a set value within a set range on the light receiving surface of the light receiving surface having a light receiving surface for receiving light.
An acquisition means for acquiring the position of the brightest light emitting region on the light receiving surface when it is determined by the determination means that there are a plurality of light emitting regions having brightness equal to or higher than the set value.
A program characterized by functioning as.

1 ... Visible light communication system, 100, 100a, 100b, 100c ... Equipment, 102, 102a, 102b, 102c ... Light source, 200 ... Server, 201, 201a, 201b, 201c, 201d ... Camera, 202 ... Control unit, 203, 203a, 203b, 203c, 203d ... Lens, 204 ... Image input unit, 205 ... Memory, 206 ... Operation unit, 207 ... Display unit, 208 ... Communication unit, 231 ... Image processing unit, 232 ... Brightness judgment unit, 234 ... Image Position acquisition unit, 236 ... Installation position acquisition unit, 242 ... Communication control unit, 250a ... Light receiving surface, 300a, 300b, 300c ... Light emitting area, 500 ... Space

Claims (7)

A light receiving means having a light receiving surface for receiving light,
A determination means for determining whether or not there are a plurality of light emitting regions having a brightness equal to or higher than a set value within a set range on the light receiving surface.
When it is determined by the determination means that there are a plurality of light emitting regions having brightness equal to or higher than the set value, the acquisition means for acquiring the position of the brightest light emitting region on the light receiving surface and the acquisition means.
A position acquisition device comprising. When it is determined that there are a plurality of light emitting regions having a brightness equal to or higher than the set value, the determination means further determines whether or not the plurality of light emitting regions receive light based on the same identification information. And
The acquisition means acquires the position of the brightest light emitting region on the light receiving surface when the determination means determines that the plurality of light emitting regions are regions that have received light based on the same identification information. The position acquisition device according to claim 1. The light receiving means includes an imaging means.
The light receiving surface is a light receiving surface that captures a preset space.
The position acquisition device according to claim 1 or 2, wherein the acquisition means acquires a position that emits the brightest light in the space as the position of the brightest light emitting region. The acquisition means is further characterized in that it acquires a plurality of dimensional positions of the position that emits the brightest light from a plurality of images in which the preset space is captured from different angles by the imaging means. Item 3. The position acquisition device according to item 3. A plurality of the imaging means are provided.
The position acquisition device according to claim 4, wherein the plurality of images are images captured by each of the plurality of imaging means. A determination step for determining whether or not there are a plurality of light emitting regions having a brightness equal to or higher than the set value within the set range on the light receiving surface that receives light in the light receiving unit.
When it is determined in the determination step that there are a plurality of light emitting regions having brightness equal to or higher than the set value, the acquisition step of acquiring the position of the brightest light emitting region on the light receiving surface, and the acquisition step.
A position acquisition method characterized by including. Computer,
A determining means for determining whether or not there are a plurality of light emitting regions having a brightness equal to or higher than a set value within a set range on the light receiving surface of the light receiving surface having a light receiving surface for receiving light.
An acquisition means for acquiring the position of the brightest light emitting region on the light receiving surface when it is determined by the determination means that there are a plurality of light emitting regions having brightness equal to or higher than the set value.
A program characterized by functioning as.

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