JP2022090130A - Position calculation system, position calculation device, position calculation method, and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To simply perform space positioning.

SOLUTION: A server 200 detects a plurality of light sources 102a, 102b, and 102c to which respective IDs are assigned in each of images acquired by imaging by cameras 201a and 201b, and acquires the image positions of the light sources 102a, 102b, and 102c. Furthermore, when a single imaged light source imaged by only one of the camera 201a and camera 201b exists, the server 200 acquires the Z-coordinate indicating the height of the single imaged light source, and acquires the installation position of the single imaged light source from the image position of the single imaged light source using the Z-coordinate.

SELECTED DRAWING: Figure 1

COPYRIGHT: (C)2022,JPO&INPIT

Description

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

There is a technique for calculating the actual position of an object existing in a predetermined space based on an image taken by a stereo camera including a plurality of image pickup devices (see, for example, Patent Document 1). According to this technique, the position of an object can be obtained only from a captured stereo image without directly measuring the position using a tool.

Japanese Unexamined Patent Publication No. 2004-361222

However, in the above-mentioned technique, a plurality of image pickup devices constituting a stereo camera need to be installed at a position where an object to be photographed can be photographed, and there is a problem that the degree of freedom is low in actual use.

The present invention has been made in view of such problems, and an object thereof is to perform spatial positioning more easily.

In order to achieve the above object, the position calculation system according to the present invention is
A light emitting device that emits light in a predetermined space,
A plurality of image pickup devices in which an installation position and a shooting direction are set to image the predetermined space from different directions, and a plurality of image pickup devices.
An acquisition means for acquiring the position of the light emitting device in an image taken by each of the plurality of image pickup devices, and
From the position of the light emitting device in the image acquired by the acquisition means in each of the plurality of image pickup devices, the installation position and the shooting direction of the plurality of image pickup devices, the installation position of the light emitting device in the predetermined space. With the first position information acquisition means for acquiring three-dimensional position information,
A determination means for determining whether or not the position of the light emitting device acquired from the acquisition means is acquired from only one of the images taken by each of the acquisition means.
When it is determined to be affirmative by the determination means, the position of the light emitting device in the image acquired by the acquisition means, the installation position and shooting direction of the image pickup device that imaged the light emitting device, and the auxiliary information are used. A second position information acquisition means for acquiring the installation position of the light emitting device in the predetermined space with three-dimensional position information, and
It is characterized by having.

In order to achieve the above object, the position calculation device according to the present invention is
The said in the image taken by each of a plurality of image pickup devices in which the installation position and the shooting direction are set, in which the predetermined space in which the light emitting device that emits light is installed is imaged from different directions. An acquisition method for acquiring the position of the light emitting device, and
From the position of the light emitting device in the image acquired by the acquisition means in each of the plurality of image pickup devices, the installation position and the shooting direction of the plurality of image pickup devices, the installation position of the light emitting device in the predetermined space. With the first position information acquisition means for acquiring three-dimensional position information,
A determination means for determining whether or not the position of the light emitting device acquired from the acquisition means is acquired from only one of the images taken by each of the acquisition means.
When it is determined to be affirmative by the determination means, the position of the light emitting device in the image acquired by the acquisition means, the installation position and shooting direction of the image pickup device that imaged the light emitting device, and the auxiliary information are used. A second position information acquisition means for acquiring the installation position of the light emitting device in the predetermined space with three-dimensional position information, and
It is characterized by having.

In order to achieve the above object, the position calculation method according to the present invention is:
The said in the image taken by each of a plurality of image pickup devices in which the installation position and the shooting direction are set, in which the predetermined space in which the light emitting device that emits light is installed is imaged from different directions. The acquisition step to acquire the position of the light emitting device and
Installation of the light emitting device in the predetermined space from the position of the light emitting device in the image acquired in the acquisition step in each of the plurality of image pickup devices, the installation position and the shooting direction of the plurality of image pickup devices. The first position information acquisition step of acquiring the position with the three-dimensional position information, and
A determination step for determining whether or not the position of the light emitting device acquired in the acquisition step is acquired from only one of the images taken by each of the images, and a determination step.
When it is determined to be affirmative in the determination step, the position of the light emitting device in the image acquired in the acquisition step, the installation position and shooting direction of the image pickup device that imaged the light emitting device, and the auxiliary information are used. , A second position information acquisition step of acquiring the installation position of the light emitting device in the predetermined space with three-dimensional position information, and
It is characterized by including.

In order to achieve the above object, the program according to the present invention
Computer,
The said in the image taken by each of a plurality of image pickup devices in which the installation position and the shooting direction are set, in which the predetermined space in which the light emitting device that emits light is installed is imaged from different directions. Acquisition means for acquiring the position of the light emitting device,
From the position of the light emitting device in the image acquired by the acquisition means in each of the plurality of image pickup devices, the installation position and the shooting direction of the plurality of image pickup devices, the installation position of the light emitting device in the predetermined space. The first position information acquisition means, which acquires the image with three-dimensional position information,
A determination means for determining whether or not the position of the light emitting device acquired from the acquisition means is acquired from only one of the images taken by each of the acquisition means.
When it is determined to be affirmative by the determination means, the position of the light emitting device in the image acquired by the acquisition means, the installation position and shooting direction of the image pickup device that imaged the light emitting device, and the auxiliary information are used. A second position information acquisition means for acquiring the installation position of the light emitting device in the predetermined space with three-dimensional position information.
It is characterized by functioning as.

According to the present invention, spatial positioning can be performed more easily.

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 shooting range of two cameras which concerns on the same embodiment. It is a figure which shows an example of the received information which concerns on the same embodiment. It is a figure which shows an example of the captured image which concerns on the same embodiment. It is a figure which shows an example of the height information table which concerns on the same embodiment. It is a figure which shows an example of the acquisition method of the installation position which concerns on the same embodiment. It is a figure which shows an example of the acquisition information including the installation position information which concerns on the same embodiment. It is a flowchart which shows an example of the operation of the server which concerns on the same embodiment.

Hereinafter, a visible light communication system as an information processing system according to an 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 installed in the space 500 (hereinafter, each of the devices 100a, 100b, 100c is not limited. ), And a server 200 corresponding to the position calculation device is included. The space 500 can be defined by a three-dimensional parameter consisting of an X coordinate, a Y coordinate, and a Z coordinate, whereby the position of an object existing in the space can be specified.

A light source 102a corresponding to a light emitting device is attached to the device 100a, a light source 102b corresponding to the light emitting device is attached to the device 100b, and a light source 102c corresponding to the light emitting device 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 light source 102 includes an LED (Light Emitting Diode) (not shown).

The server 200 is equipped with cameras 201a and 201b corresponding to the image pickup apparatus (hereinafter, when each of the cameras 201a and 201b is not limited, it is appropriately referred to as "camera 201").

In the present embodiment, the light source 102 attached to the device 100 is color-modulated with information of various transmission targets such as the state of the device 100, and the information is emitted by changing the emission color in chronological order. To send. The modulation method is a method in which information to be transmitted is converted into bit data, and this data is assigned to the order of the three primary colors of light (R (red) G (green) B (blue)) with predetermined regularity. Is adopted. 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.

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 processing unit 204, a memory 205, an operation unit 206, a display unit 207, and a communication unit 208. Further, the cameras 201a and 201b are connected to the server 200 regardless of whether they are wired or wireless, and can communicate with each other.

The camera 201a includes a lens 203a, and the camera 201b includes a lens 203b (hereinafter, when each of the lenses 203a and 203b is not limited, it is appropriately referred to as “lens 203”). The lens 203 is composed of a wide-angle lens or the like capable of partially accommodating the space 500 in the shooting angle of view, and moves in the focal length direction by focusing control by the operation unit 206 or the control unit 202, and the camera 201 moves. The imaging angle of view and the optical image to be imaged are controlled.

The cameras 201a and 201b are composed of a plurality of light receiving elements regularly arranged two-dimensionally on a light receiving surface represented by an image pickup element. The image pickup device is, for example, an image pickup device such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor). The cameras 201a and 201b 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 an image. Further, the cameras 201a and 201b continuously perform imaging and image generation in time, and output continuous frames to the image processing unit 204 in the server 200. The position of each pixel or image area in an image is defined by a two-dimensional coordinate plane consisting of X and Y coordinates.

In the present embodiment, the shooting range of the camera 201a and the shooting range of the camera 201b are configured to be different. Specifically, as shown in FIG. 3, the shooting range 501 of both cameras is a range in which both the camera 201a and the camera 201b can be imaged, and the first camera shooting range 502a is a range in which only the camera 201a can be imaged. It is a range, and the second camera shooting range 502b is a range in which only the camera 201b can take an image. Therefore, the light source 102b existing in the shooting range 501 of both cameras can be imaged by both the camera 201a and the camera 201b, and the light source 102a existing in the shooting range 502a of the first camera can be imaged only by the camera 201a. The light source 102c existing in the second camera shooting range 502b can be imaged only by the camera 201b.

It will be described again by returning to FIG. The image processing unit 204 outputs the image (digital data) output from the camera 201 to the control unit 202 as it is based on the control signal from the control unit 202, and displays the image on the display unit 207. The image quality and image size are adjusted and output to the control unit 202. Further, when the control signal based on the recording instruction operation from the operation unit 206 is input, the image processing unit 204 displays the display within the image pickup angle of the camera 201 at the time of the recording instruction or displayed on the display unit 207. It has a function of encoding an optical image within a range by a compression coding method such as PEG (Joint Photographic Experts Group) or MPEG (Moving Photographic Experts Group), converting it into a still image file, or converting it into a moving image file.

The control unit 202 is configured by, for example, a CPU (Central Processing Unit). The control unit 202 controls various functions included in the server 200 by executing 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 FIG. 9 to be described later). do.

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 (Electroluminescence) 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.

The control unit 202 includes a reception information acquisition unit 230 corresponding to the acquisition means, a determination unit 232 corresponding to the determination means, and a position information acquisition unit corresponding to the first position information acquisition means and the second position information acquisition means. The 234 and the auxiliary information acquisition unit 236 corresponding to the auxiliary information acquisition means are configured.

The reception information acquisition unit 230 detects the position of the light source 102 (image position: X coordinate, Y coordinate in the two-dimensional plane corresponding to the image) in the image obtained by imaging the cameras 201a and 201b. 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 targeted manner.

The reception information acquisition unit 230 detects the light of the cyclic three-color pattern included in each image obtained by the imaging of the cameras 201a and 201b. Further, the reception information acquisition unit 230 attempts to detect the ID corresponding to the emission pattern of the three colors and further demodulate to the ID. When the ID is detected, the reception information acquisition unit 230 acquires the image position of the light source 102 corresponding to the ID in the image and generates the reception information.

FIG. 4 is a diagram showing an example of received information. FIG. 4A is an example of the received information generated from the image obtained by the image taken by the camera 201a, and the generation time of the received information, the camera name (cam1) of the camera 201a, and the ID corresponding to the light source 102a. Image position information (1 which is the ID of the light source 102a, coordinates Xg = X1, Yg = Y1 which are the image positions of the light source 102a in the image obtained by the image pickup of the camera 201a), and the ID / image position corresponding to the light source 102b. It is configured to include information (2, which is the ID of the light source 102b, coordinates Xg = X2a, Yg = Y2a, which is the image position of the light source 102b in the image obtained by the image pickup of the camera 201a).

In the present embodiment, the camera 201a can capture the light sources 102a and 102b as shown in the captured image 601a of FIG. 5A, but cannot capture the light source 102c. Therefore, the ID / image position information for the light sources 102a and 102b is generated from the image obtained by the image pickup of the camera 201a, but the ID / image position information for the light source 102c cannot be generated.

FIG. 4B is an example of the received information generated from the image obtained by the image taken by the camera 201b, and the generation time of the received information, the camera name (cam2) of the camera 201b, and the ID corresponding to the light source 102b. Image position information (2, which is the ID of the light source 102b, coordinates Xg = X2b, Yg = Y2b, which is the image position of the light source 102b in the image obtained by imaging the camera 201b), and an ID / image position corresponding to the light source 102c. It is configured to include information (3, which is the ID of the light source 102c, coordinates Xg = X3, Yg = Y3, which is the image position of the light source 102c in the image obtained by imaging the camera 201b).

In the present embodiment, the camera 201b can capture the light sources 102b and 102c as shown in the captured image 601b of FIG. 5B, but cannot capture the light source 102a. Therefore, the ID / image position information for the light sources 102b and 102c is generated from the image obtained by the image pickup of the camera 201b, but the ID / image position information for the light source 102a cannot be generated.

It will be described again by returning to FIG. The determination unit 232 determines whether or not there is a light source 102 (single image pickup light source) imaged by only one of the camera 201a and the camera 201b based on the generated reception information. Specifically, the determination unit 232 shows the ID included in the ID / image position information in the received information based on the image obtained by the image taken by the camera 201a shown in FIG. 4A, and the ID shown in FIG. 4B. The ID in the received information based on the image obtained by the image pickup of the camera 201b and the ID included in the image position information are compared.

The determination unit 232 corresponds to ID = 1 because ID = 1 is included only in the ID / image position information in the received information based on the image obtained by the image taken by the camera 201a shown in FIG. 4 (a). It is determined that the light source 101a is a single image pickup light source imaged only by the camera 201a. Further, the determination unit 232 corresponds to ID = 3 because ID = 3 is included only in the ID / image position information in the received information based on the image obtained by the image taken by the camera 201b shown in FIG. 4 (b). It is determined that the light source 101c is a single image pickup light source imaged only by the camera 201b.

On the other hand, ID = 2 is obtained by the ID / image position information in the received information based on the image obtained by the image taken by the camera 201a shown in FIG. 4A and the image taken by the camera 201b shown in FIG. 4B. It is included in both the ID and the image position information in the received information based on the image. Therefore, the determination unit 232 determines that the light source 101b corresponding to ID = 2 is a light source (plural image pickup light source) imaged by both the camera 201a and the camera 201b.

It will be described again by returning to FIG. When a plurality of imaging light sources are present, the position information acquisition unit 234 uses a known method to capture the image positions of the plurality of imaging light sources in the image obtained by the imaging of the camera 201a and the multiple imaging of the image obtained by the imaging of the camera 201b. Using the image position of the light source, the installation position of the cameras 201a and 201b, and the image pickup direction, the installation positions of the plurality of image pickup light sources in the space 500 (X coordinate, Y coordinate, Z coordinate in the three-dimensional space corresponding to the space 500). Is calculated. As a result, the installation position of the light source 102b, which is a plurality of image pickup light sources, is obtained.

On the other hand, when the single image pickup light source exists, the auxiliary information acquisition unit 236 acquires the Z coordinate information indicating the height (Z direction) of the single image pickup light source in the space 500 as auxiliary information from the memory 205. FIG. 6 is a diagram showing an example of a height information table stored in the memory 205. In the height information table, the ID of each light source 102 and the information of the Z coordinate indicating the height from the floor surface (Z = 0) in the space 500 of the light source 102 are associated with each other. The auxiliary information acquisition unit 236 acquires the Z coordinate information corresponding to the ID of the single imaging light source from the memory 205. Here, the height information may be the Z coordinate when the installation position is acquired when the corresponding light source 102 has been a plurality of imaging light sources in the past, or may be the Z coordinate obtained by the measurement of the operator. good.

It will be described again by returning to FIG. The position information acquisition unit 234 acquires the installation position of the single image pickup light source (X coordinate, Y coordinate, Z coordinate in the three-dimensional space corresponding to the space 500) by using the height of the single image pickup light source acquired. FIG. 7 is a diagram showing an example of an acquisition method of an installation position of a light source 102a, which is a single image pickup light source included in an image captured by the camera 201a. In FIG. 7, the installation position (Xk1, Yk1, Zk1) of the light source 102a is acquired. Zk1 is obtained from the height information table.

The position information acquisition unit 234 uses a known method to use the image position of the light source 102a in the image obtained by the image pickup of the camera 201a, the installation position and the image pickup direction of the camera 201a, and the light source 102a is the floor of the space 500. A temporary installation position (Xk0, Yk0, Zk0) assuming that it exists on the surface (Z = 0) is calculated. Next, the position information acquisition unit 234 projects the length from the installation position (Xs1, Ys1, Zs1) of the camera 201a to the temporary installation position (Xk0, Yk0, Zk0) of the light source 102a on the XY plane. In other words, the length L1 from (Xs1, Ys1) to (Xk0, Yk0) is calculated.

Next, the position information acquisition unit 234 projects the length from the installation position of the camera 201a (Xs1, Ys1, Zs1) to the actual installation position of the light source 102a (Xk1, Yk1, Zk1) on the XY plane. In other words, the length L2 from (Xs1, Ys1) to (Xk1, Yk1) is calculated by L2 = (Zs1-Zk1) × L1 / Zs1.

Further, in the position information acquisition unit 234, the length from (Xs1, Ys1) to (Xk1, Yk1) satisfies L2, and the vector from (Xs1, Ys1) to (Xk1, Yk1) is (Xs1, Ys1). ) To (Xk0, Yk0), and (Xk1, Yk1) is specified so as to be in the same direction as the vector. As a result, the installation position (Xk1, Yk1, Zk1) of the light source 102a is acquired by the specified (Xk1, Yk1) and the acquired Zk1. The method for acquiring the installation position of the light source 102c, which is a single image pickup light source, is also the same.

The position information acquisition unit 234 generates acquisition information including installation position information for each of the single image pickup light source and the plurality of image pickup light sources. FIG. 8 is a diagram showing an example of acquired information including installation position information. FIG. 8A shows acquisition information corresponding to the light source 102a which is a single image pickup light source, and includes the generation time of the acquisition information and the positioning level (M) indicating that the installation position corresponding to the single image pickup light source is acquired. , The camera name (cam1) of the camera 201a that captured the light source 102a, the coordinates (Xk1 = 18.0, Yk1 = 5.0, Zk1 = 1.2) that are the installation position information corresponding to the light source 102a, and the accuracy information. (Possibility P = -1.0) and included. The accuracy information is set to a low value in the case of a single image pickup light source and a high value in the case of a plurality of image pickup light sources. By adding the accuracy information, when the installation information is used in the subsequent processing, it becomes possible to refer to it when determining whether or not it can be used, such as using only the installation information with high accuracy.

FIG. 8B shows acquisition information corresponding to the light source 102b, which is a plurality of image pickup light sources, and includes the generation time of the acquisition information and the positioning level (S) indicating that the installation position corresponding to the plurality of image pickup light sources is acquired. , Camera names (cam1 / cam2) of the cameras 201a and 201b that imaged the light source 102b, and coordinates (Xk2 = 10.2, Yk2 = 11.1, Zk2 = 0.3) that are installation position information corresponding to the light source 102b. And accuracy information (P = 1.0).

FIG. 8C shows acquisition information corresponding to the light source 102c, which is a single image pickup light source, and includes the generation time of the acquisition information and the positioning level (M) indicating that the installation position corresponding to the single image pickup light source is acquired. , The camera name (cam2) of the camera 201b that captured the light source 102c, the coordinates (Xk3 = 5.2, Yk3 = 7.0, Zk3 = 1.1) that are the installation position information corresponding to the light source 102c, and the accuracy information. (P = -1.0) and is included.

Next, the operation of the server 200 will be described with reference to the flowchart. FIG. 9 is a flowchart showing an example of the operation of the server 200.

The cameras 201a and 201b perform imaging in the space 500. The reception information acquisition unit 230 in the control unit 202 detects the light source 102 in each image obtained by imaging the cameras 201a and 201b (step S101).

Next, the reception information acquisition unit 230 acquires the ID corresponding to the light of the three color patterns from the detected light source 102 included in the image, acquires the image position of the light source 102, and generates the reception information. (Step S102).

The determination unit 232 includes an ID included in the ID / image position information in the received information based on the image obtained by the image taken by the camera 201a, and an ID / image position in the received information based on the image obtained by the image taken by the camera 201b. By comparing with the ID included in the information, it is determined whether or not there is a light source 102 (single image pickup light source) imaged by only one of the camera 201a and the camera 201b (step S103).

When the single image pickup light source is present (step S103; YES), the auxiliary information acquisition unit 236 acquires the Z coordinate information indicating the height (Z direction) of the single image pickup light source in the space 500 from the memory 205 (step S104). ). Next, the position information acquisition unit 234 acquires the installation position of the single imaging light source by the acquisition method shown in FIG. 7 using the acquired Z coordinates (step S105). When there are a plurality of single imaging light sources, the processes of steps S104 and S105 are repeated.

After acquiring the installation position of the single image pickup light source in step S105, or when it is determined in step S103 that there is no single image pickup light source (step S103; NO), the determination unit 232 captures the image obtained by the image pickup of the camera 201a. By comparing the ID included in the ID / image position information in the received information based on the ID included in the ID / image position information in the received information based on the image obtained by the imaging of the camera 201b, the camera 201a and It is determined whether or not there is a light source 102 (plurality of image pickup light sources) imaged by both cameras 201b (step S106).

When a plurality of imaging light sources are present (step S106; YES), the position information acquisition unit 234 uses the image positions of the plurality of imaging light sources obtained by the respective imaging of the cameras 201a and 201b to perform multiple imaging by a known method. Acquire the installation position of the light source (step S107). When there are a plurality of single imaging light sources, the process of step S107 is repeated.

After acquiring the installation position of the plurality of imaging light sources in step S107, or when it is determined in step S106 that there is no plurality of imaging light sources (step S106; NO), a series of operations is completed.

As described above, in the present embodiment, the server 200 detects a plurality of light sources 102 to which IDs are assigned in each image obtained by imaging the cameras 201a and 201b, and acquires the image position of the light source 102. Further, when the server 200 has a plurality of image pickup light sources imaged by both the camera 201a and the camera 201b, the server 200 uses a known method to obtain the image positions of the plurality of image pickup light sources, the installation positions of the cameras 201a and the camera 201b, and the image pickup. Obtain the installation position of multiple imaging light sources from the direction. On the other hand, when the server 200 has a single image pickup light source imaged only on one of the camera 201a and the camera 201b, the server 200 acquires the Z coordinate indicating the height of the single image pickup light source, and obtains the Z coordinate and the independent image pickup. The installation position of the single image pickup light source is acquired from the image position of the light source, the installation position of the camera 201, and the image pickup direction. In the past, when there was a single image pickup light source that was imaged only by one of the camera 201a and the camera 201b, it was difficult to acquire the installation position of the single image pickup light source, but in this embodiment, it is set in advance. By using the Z coordinate of the single image pickup light source as auxiliary information, the installation position of the single image pickup light source can be acquired.

Further, since each light source 102 in the space 500 emits light corresponding to an ID that can uniquely identify itself, the server 200 distinguishes each other even when a plurality of light sources 102 exist. The installation position of the light source 102 can be acquired.

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.

In the above-described embodiment, as shown in FIG. 6, height information is set for each light source 102, but only one average height of each light source 102 is set, and any single light source can be used. Even if there is, the installation position may be acquired using the average value.

Further, in the above-described embodiment, the light source 102 emits light corresponding to an ID that can uniquely identify itself. However, the present invention is not limited to this, and some or all the light sources 102 are cyclically arranged in a three-color pattern of R (red) G (green) B (blue) modulated at their own installation position in the space 500. It may emit a light that changes to. In this case, the server 200 attempts to detect and demodulate the installation position of the light source 102 corresponding to the three-color emission pattern.

Further, the light source 102 is not limited to the LED. 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 it can be equipped with a camera.

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

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

If the above functions are shared by the OS (Operating System) or realized by collaboration between the OS and the application, even if only the parts other than the OS are stored in the medium and distributed. Well, you may 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. Will be. The inventions described in the original claims of the present application are described below.

(Appendix 1)
A light emitting device that emits light in a predetermined space,
A plurality of image pickup devices in which an installation position and a shooting direction are set to image the predetermined space from different directions, and a plurality of image pickup devices.
An acquisition means for acquiring the position of the light emitting device in an image taken by each of the plurality of image pickup devices, and
From the position of the light emitting device in the image acquired by the acquisition means in each of the plurality of image pickup devices, the installation position and the shooting direction of the plurality of image pickup devices, the installation position of the light emitting device in the predetermined space. With the first position information acquisition means for acquiring three-dimensional position information,
A determination means for determining whether or not the position of the light emitting device acquired from the acquisition means is acquired from only one of the images taken by each of the acquisition means.
When it is determined to be affirmative by the determination means, the position of the light emitting device in the image acquired by the acquisition means, the installation position and shooting direction of the image pickup device that imaged the light emitting device, and the auxiliary information are used. A second position information acquisition means for acquiring the installation position of the light emitting device in the predetermined space with three-dimensional position information, and
A position calculation system characterized by being equipped with.

(Appendix 2)
The said in the image taken by each of a plurality of image pickup devices in which the installation position and the shooting direction are set, in which the predetermined space in which the light emitting device that emits light is installed is imaged from different directions. An acquisition method for acquiring the position of the light emitting device, and
From the position of the light emitting device in the image acquired by the acquisition means in each of the plurality of image pickup devices, the installation position and the shooting direction of the plurality of image pickup devices, the installation position of the light emitting device in the predetermined space. With the first position information acquisition means for acquiring three-dimensional position information,
A determination means for determining whether or not the position of the light emitting device acquired from the acquisition means is acquired from only one of the images taken by each of the acquisition means.
When it is determined to be affirmative by the determination means, the position of the light emitting device in the image acquired by the acquisition means, the installation position and shooting direction of the image pickup device that imaged the light emitting device, and the auxiliary information are used. A second position information acquisition means for acquiring the installation position of the light emitting device in the predetermined space with three-dimensional position information, and
A position calculation device characterized by being provided with.

(Appendix 3)
The position calculation device according to Appendix 2, wherein there are a plurality of light emitting devices, each of which modulates a signal that can uniquely identify itself and emits light.

(Appendix 4)
The position calculation device according to Appendix 3, wherein the light emitting device uses three-dimensional position information as a signal that can uniquely identify the self.

(Appendix 5)
The position calculation device according to any one of Supplementary note 2 to 4, further comprising an auxiliary information acquisition means for acquiring the auxiliary information.

(Appendix 6)
The determination means is based on the number of the plurality of image pickup devices and the number of image pickup devices capable of capturing the light emitting device, and the position of the light emitting device acquired from the acquisition means is among the images taken by the respective images. The position calculation device according to any one of Supplementary note 2 to 5, wherein it is determined whether or not the image is acquired from only one of the above.

(Appendix 7)
The position calculation device according to any one of Supplementary note 2 to 6, wherein the auxiliary information is information about the Z direction in a three-dimensional coordinate space consisting of X coordinates, Y coordinates, and Z coordinates.

(Appendix 8)
Regarding the position of the light emitting device determined to be affirmative by the determination means among the plurality of light emitting devices, the installation position of the light emitting device in the predetermined space by the second position information acquisition means is three-dimensionally set. On the other hand, regarding the position of the light emitting device determined to be negative by the determination means, the installation position of the light emitting device in the predetermined space by the first position information acquisition means is set to a three-dimensional position. The position calculation device according to Appendix 3 or 4, further comprising a control means for controlling acquisition by information.

(Appendix 9)
The said in the image taken by each of a plurality of image pickup devices in which the installation position and the shooting direction are set, in which the predetermined space in which the light emitting device that emits light is installed is imaged from different directions. The acquisition step to acquire the position of the light emitting device and
Installation of the light emitting device in the predetermined space from the position of the light emitting device in the image acquired in the acquisition step in each of the plurality of image pickup devices, the installation position and the shooting direction of the plurality of image pickup devices. The first position information acquisition step of acquiring the position with the three-dimensional position information, and
A determination step for determining whether or not the position of the light emitting device acquired in the acquisition step is acquired from only one of the images taken by each of the images, and a determination step.
When it is determined to be affirmative in the determination step, the position of the light emitting device in the image acquired in the acquisition step, the installation position and shooting direction of the image pickup device that imaged the light emitting device, and the auxiliary information are used. , A second position information acquisition step of acquiring the installation position of the light emitting device in the predetermined space with three-dimensional position information, and
A position calculation method characterized by including.

(Appendix 10)
Computer,
The said in the image taken by each of a plurality of image pickup devices in which the installation position and the shooting direction are set, in which the predetermined space in which the light emitting device that emits light is installed is imaged from different directions. Acquisition means for acquiring the position of the light emitting device,
From the position of the light emitting device in the image acquired by the acquisition means in each of the plurality of image pickup devices, the installation position and the shooting direction of the plurality of image pickup devices, the installation position of the light emitting device in the predetermined space. The first position information acquisition means, which acquires the image with three-dimensional position information,
A determination means for determining whether or not the position of the light emitting device acquired from the acquisition means is acquired from only one of the images taken by each of the acquisition means.
When it is determined to be affirmative by the determination means, the position of the light emitting device in the image acquired by the acquisition means, the installation position and shooting direction of the image pickup device that imaged the light emitting device, and the auxiliary information are used. A second position information acquisition means for acquiring the installation position of the light emitting device in the predetermined space with three-dimensional position information.
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 ... Camera, 202 ... Control unit, 203, 203a, 203b ... Lens, 204 ... image processing unit, 205 ... memory, 206 ... operation unit, 207 ... display unit, 208 ... communication unit, 230 ... reception information acquisition unit, 232 ... judgment unit, 234 ... position information acquisition unit, 236 ... auxiliary information Acquisition unit, 500 ... Space, 501 ... Both cameras shooting range, 502a ... First camera shooting range, 502b ... Second camera shooting range, 601a, 601b ... Captured image

In order to achieve the above object, the position calculation system according to the present invention is
A light emitting device that emits light in a predetermined space,
An image pickup device in which an installation position and a shooting direction are set to image the predetermined space, and an image pickup device.
An acquisition means for acquiring the position of the light emitting device in an image taken by the image pickup device, and
From the position of the light emitting device in the image acquired by the acquisition means, the installation position and shooting direction of the image pickup device, and the auxiliary information, the installation position of the light emitting device in the predetermined space can be determined. A second position information acquisition means for acquiring three-dimensional position information,
Equipped with
The auxiliary information is characterized in that it is information about the Z direction in a three-dimensional coordinate space consisting of an X coordinate, a Y coordinate, and a Z coordinate .

In order to achieve the above object, the position calculation device according to the present invention is
Acquires the position of the light emitting device in the image captured by the image pickup device in which the installation position and the shooting direction are set to image the predetermined space in which the light emitting device that emits light is installed in the predetermined space. Acquisition method and
From the position of the light emitting device in the image acquired by the acquisition means, the installation position and shooting direction of the image pickup device, and the auxiliary information, the installation position of the light emitting device in the predetermined space can be determined. A second position information acquisition means for acquiring three-dimensional position information,
Equipped with
The auxiliary information is characterized in that it is information about the Z direction in a three-dimensional coordinate space consisting of an X coordinate, a Y coordinate, and a Z coordinate .

In order to achieve the above object, the position calculation method according to the present invention is:
Acquires the position of the light emitting device in the image captured by the image pickup device in which the installation position and the shooting direction are set to image the predetermined space in which the light emitting device that emits light is installed in the predetermined space. To get the steps and
From the position of the light emitting device in the image acquired in the acquisition step, the installation position and shooting direction of the image pickup device, and the auxiliary information, the installation position of the light emitting device in the predetermined space can be determined. The second position information acquisition step to acquire with three-dimensional position information,
Including
The auxiliary information is characterized in that it is information about the Z direction in a three-dimensional coordinate space consisting of an X coordinate, a Y coordinate, and a Z coordinate .

In order to achieve the above object, the program according to the present invention
Computer,
Acquires the position of the light emitting device in the image captured by the image pickup device in which the installation position and the shooting direction are set to image the predetermined space in which the light emitting device that emits light is installed in the predetermined space. Acquisition method ,
From the position of the light emitting device in the image acquired by the acquisition means, the installation position and shooting direction of the image pickup device, and the auxiliary information, the installation position of the light emitting device in the predetermined space can be determined. Second position information acquisition means, which is acquired by three-dimensional position information,
To function as
The auxiliary information is characterized in that it is information about the Z direction in a three-dimensional coordinate space consisting of an X coordinate, a Y coordinate, and a Z coordinate .

Claims (10)

A light emitting device that emits light in a predetermined space,
A plurality of image pickup devices in which an installation position and a shooting direction are set to image the predetermined space from different directions, and a plurality of image pickup devices.
An acquisition means for acquiring the position of the light emitting device in an image taken by each of the plurality of image pickup devices, and
From the position of the light emitting device in the image acquired by the acquisition means in each of the plurality of image pickup devices, the installation position and the shooting direction of the plurality of image pickup devices, the installation position of the light emitting device in the predetermined space. With the first position information acquisition means for acquiring three-dimensional position information,
A determination means for determining whether or not the position of the light emitting device acquired from the acquisition means is acquired from only one of the images taken by each of the acquisition means.
When it is determined to be affirmative by the determination means, the position of the light emitting device in the image acquired by the acquisition means, the installation position and shooting direction of the image pickup device that imaged the light emitting device, and the auxiliary information are used. A second position information acquisition means for acquiring the installation position of the light emitting device in the predetermined space with three-dimensional position information, and
A position calculation system characterized by being equipped with. The said in the image taken by each of a plurality of image pickup devices in which the installation position and the shooting direction are set, in which the predetermined space in which the light emitting device that emits light is installed is imaged from different directions. An acquisition method for acquiring the position of the light emitting device, and
From the position of the light emitting device in the image acquired by the acquisition means in each of the plurality of image pickup devices, the installation position and the shooting direction of the plurality of image pickup devices, the installation position of the light emitting device in the predetermined space. With the first position information acquisition means for acquiring three-dimensional position information,
A determination means for determining whether or not the position of the light emitting device acquired from the acquisition means is acquired from only one of the images taken by each of the acquisition means.
When it is determined to be affirmative by the determination means, the position of the light emitting device in the image acquired by the acquisition means, the installation position and shooting direction of the image pickup device that imaged the light emitting device, and the auxiliary information are used. A second position information acquisition means for acquiring the installation position of the light emitting device in the predetermined space with three-dimensional position information, and
A position calculation device characterized by being provided with. The position calculation device according to claim 2, wherein there are a plurality of light emitting devices, each of which modulates a signal that can uniquely identify itself and emits light. The position calculation device according to claim 3, wherein the light emitting device uses three-dimensional position information as a signal that can uniquely identify the self. The position calculation device according to any one of claims 2 to 4, further comprising an auxiliary information acquisition means for acquiring the auxiliary information. The determination means is based on the number of the plurality of image pickup devices and the number of image pickup devices capable of capturing the light emitting device, and the position of the light emitting device acquired from the acquisition means is among the images taken by the respective images. The position calculation device according to any one of claims 2 to 5, wherein it is determined whether or not the image is acquired from only one of the above. The position calculation device according to any one of claims 2 to 6, wherein the auxiliary information is information about the Z direction in a three-dimensional coordinate space consisting of X coordinates, Y coordinates, and Z coordinates. .. Regarding the position of the light emitting device determined to be affirmative by the determination means among the plurality of light emitting devices, the installation position of the light emitting device in the predetermined space by the second position information acquisition means is three-dimensionally set. On the other hand, regarding the position of the light emitting device determined to be negative by the determination means, the installation position of the light emitting device in the predetermined space by the first position information acquisition means is set to a three-dimensional position. The position calculation device according to claim 3 or 4, further comprising a control means for controlling acquisition by information. The said in the image taken by each of a plurality of image pickup devices in which the installation position and the shooting direction are set, in which the predetermined space in which the light emitting device that emits light is installed is imaged from different directions. The acquisition step to acquire the position of the light emitting device and
Installation of the light emitting device in the predetermined space from the position of the light emitting device in the image acquired in the acquisition step in each of the plurality of image pickup devices, the installation position and the shooting direction of the plurality of image pickup devices. The first position information acquisition step of acquiring the position with the three-dimensional position information, and
A determination step for determining whether or not the position of the light emitting device acquired in the acquisition step is acquired from only one of the images taken by each of the images, and a determination step.
When it is determined to be affirmative in the determination step, the position of the light emitting device in the image acquired in the acquisition step, the installation position and shooting direction of the image pickup device that imaged the light emitting device, and the auxiliary information are used. , A second position information acquisition step of acquiring the installation position of the light emitting device in the predetermined space with three-dimensional position information, and
A position calculation method characterized by including. Computer,
The said in the image taken by each of a plurality of image pickup devices in which the installation position and the shooting direction are set, in which the predetermined space in which the light emitting device that emits light is installed is imaged from different directions. Acquisition means for acquiring the position of the light emitting device,
From the position of the light emitting device in the image acquired by the acquisition means in each of the plurality of image pickup devices, the installation position and the shooting direction of the plurality of image pickup devices, the installation position of the light emitting device in the predetermined space. The first position information acquisition means, which acquires the image with three-dimensional position information,
A determination means for determining whether or not the position of the light emitting device acquired from the acquisition means is acquired from only one of the images taken by each of the acquisition means.
When it is determined to be affirmative by the determination means, the position of the light emitting device in the image acquired by the acquisition means, the installation position and shooting direction of the image pickup device that imaged the light emitting device, and the auxiliary information are used. A second position information acquisition means for acquiring the installation position of the light emitting device in the predetermined space with three-dimensional position information.
A program characterized by functioning as.

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