JP3986220B2 - Information display member and position detection method using the same - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an information display member such as an information display board on which information including the position of an object is displayed, and a position detection method using the information display member.
[0002]
[Prior art]
For example, according to Japanese Patent Laid-Open No. Hei 6-197246, an in-vehicle bar code reader device equipped with a CCD camera without a human being reading a road sign by writing a two-dimensional bar code or the like on the road sign. According to the document, the automatic reading process is described.
[0003]
Further, according to Japanese Patent Laid-Open No. 10-267671, for the purpose of displaying information related to an image from the image input means, as shown in FIG. While acquiring from the position information acquisition part 52, an angle is acquired from the camera attribute information acquisition part 53, and also the view image of the visual field seen from the position is controlled based on the three-dimensional map information from the map information management part 55. Is created using the CG technique, and the label information output unit 57A superimposes it with the label information from the label information creation unit 56A so as to obtain pattern matching with the input image.
[0004]
[Problems to be solved by the invention]
However, in the above-described prior art Japanese Patent Laid-Open No. 6-197246, as a method of using a two-dimensional bar code, a human-readable language or symbol information displayed on an adherend of the code is used as an existing bar code. It is merely replaced with the code information of another standard as described above, and it is merely easy to read in terms of image processing, and there is no difference from the reason for the existence of the original barcode.
[0005]
In other words, what is needed for navigation of humans or the cars they drive is accurate map information and position and orientation information about where they are now and where they are facing. It can be said that there is no position and orientation recognition method.
[0006]
Further, in the above-mentioned prior art Japanese Patent Laid-Open No. 10-267671, matching is performed by reconstructing a view image in the field of view from a three-dimensional map including information in the height direction for determining superposition related information. There is a problem that not only does this process take a lot of calculation time but also it is difficult to identify the exact camera position (user position).
[0007]
When trying to know his position and the direction he is facing, humans first try to obtain visual information of the surroundings.
[0008]
Those who have doubts about this should not be at least healthy.
[0009]
However, in a well-known room or building, if you go to an unknown land, you will try to know your position based on tools such as maps and compass and the position of celestial bodies. Let's go.
[0010]
However, in the case where such a process is automatically performed in an instrument apparatus in terms of image processing, a position detection means other than vision such as GPS or a gyrocompass must be used.
[0011]
Accordingly, an object of the present invention is to provide an information display member used when it is intended to know its own position / posture or camera position / posture from only visual information, in other words, only image information.
[0012]
Also, the subject of the present invention is that by using this information display member, in order to determine its own position in a conventionally known triangulation, the position coordinates of two points and the existing directions of known landmarks It is an object of the present invention to provide a position detection method that can eliminate the need to input a direction or the like.
[0013]
The present invention has been made in view of the above circumstances, and when a user wants to know his / her position / posture using only image processing means, the user's vehicle or the user's boarding vehicle, etc. An information display member capable of obtaining information capable of detecting its own position and orientation without requiring recognition of two points of triangulation by taking an image with an image input device integrated with An object is to provide a position detection method using the same.
[0014]
[Means for Solving the Problems]
  According to the present invention, in order to solve the above problems,
  (1) An information display member having an information display surface of a known size,
  Coordinate information indicating the position of the information display member;
  Direction information indicating the direction of the information display surface is
  Combination of geometric shapes representing theseSetamataIsMulticolored geometric shapeAn information display member is provided that is displayed on the information display surface as information patterned using a combination of the above.
[0015]
(Function)
  By imaging the information display surface of the information display member with a camera, the coordinate information indicating the position of the information display member displayed on the information display surface and the direction information indicating the direction in which the information display surface faces are represented. Combination of geometric shapesSetamataIsMulticolored geometric shapeBased on the information patterned using the combination of the above, the position information of the camera is acquired only from the captured image information.
[0016]
Further, according to the present invention, in order to solve the above problems,
(2) The information display member according to (1), wherein a pattern representing altitude information indicating the altitude of the information display member and a pattern representing a vertical horizontal direction are further displayed on the information display surface. Is provided.
[0017]
(Function)
By imaging the information display surface of the information display member with a camera, the coordinate information indicating the position of the information display member displayed on the information display surface and the direction information indicating the direction in which the information display surface faces are represented. In addition to acquiring camera position information from only captured image information based on a pattern and a pattern representing altitude information indicating the altitude of the information display member and a pattern representing a vertical horizontal direction, the altitude of the camera position Get information.
[0018]
  Further, according to the present invention, in order to solve the above problems,
  (3) A step of obtaining an image by imaging the information display member according to (1) or (2) with a camera;
  Obtaining a direction in which the camera faces from the length ratio of the information display surface shown in the image and the direction information displayed on the information display surface;
  Obtaining the distance between the camera and the information display surface from the size of the information display surface shown in the image;
  Obtaining the position coordinates of the camera from the direction in which the camera is directed, the distance, and coordinate information displayed on the information display surface;
  A position detecting method is provided.
  Further, according to the present invention, in order to solve the above problems,
  (4)The combination of geometric shapes in the patterned information is patterned information representing a binary number, and the information display member according to (1) is provided.
(Function)
  By using the pattern information in the binary notation, it is possible to facilitate the computer processing of the image and the compatibility between the implementation system according to the present invention with another pattern information reading apparatus. .
  Further, according to the present invention, in order to solve the above problems,
  (5)The information display member according to (1) is provided, wherein the information display member is composed of an electronic display body, and display pattern information can be freely changed by an electric signal operation.
(Function)
  Considering users from a direction where position information and direction information are relatively difficult to obtain, an electronic display device is used as the information display member, thereby providing a predetermined cycle (may be irregular) like a lighthouse. By rotating and changing the direction information of the information display member according to the rotation angle, or by displaying the change (rewrite) rule itself on the information display member in some cases, the direction information from the user or the camera can be displayed. It becomes possible to estimate more accurately.
  In this case, the apparent horizontal / vertical ratio of the information display member is used for direction estimation. However, by defining the direction of rotation, it is easy to combine the solutions for direction estimation.
  Furthermore, it is possible to add the current information to the information display member for description, or to intentionally limit the position accuracy.
[0019]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of the present invention will be described below with reference to the drawings.
[0020]
(First embodiment)
2A and 2B are front views showing the information display member 11 according to the first embodiment of the present invention.
[0021]
The information display member 11 according to the first embodiment is, for example, a flat plate shape or a curved plate plate that represents patterning information using a combination of geometric shapes and / or a combination of colors, and the patterned notation thereof. An information display surface 11a that includes its own spatial position information and / or direction information in the information content, and a support bar 11b having a predetermined length for supporting the information display surface 11a are configured as follows. .
[0022]
FIG. 2A shows a first embodiment according to the present invention, for example, in a disk shape, and in FIG. 2B, for example, an octagonal disk-shaped display board (hereinafter referred to as an information display member). ) 11 is installed at a predetermined position A such as a road with the facing direction as the south, and the information display surface 11a has coordinate information indicating the position of the installation location and the information display surface 11a. The direction information indicating the direction of the heading is displayed in a patterned form based on, for example, a geometric shape as shown in the figure, based on a square lattice, based on the wording according to a predetermined rule representing them. Yes.
[0023]
And the user who exists in the position B which this information display member 11 can look through images the information display surface 11a of this information display member 11 with an electronic camera, for example.
[0024]
At this time, the camera captures the information display surface 11a of the information display member 11 at substantially the center of the imaging screen, and the horizontal angle of view of the camera is P degrees and the vertical angle of view is Q degrees.
[0025]
If the size of the information display member 11 captured in the vicinity of the center of the imaging screen of the camera is equivalent to horizontal S degrees and vertical T degrees in terms of angle of view, For example, side direction display (for example, east-west-north-north or The direction in which the camera, that is, the user faces, can be calculated based on the reflected information of (EWSN).
[0026]
For example, if S / T is 0.5, ± 60 degrees (4 o'clock direction or 8 o'clock direction) from the true south of the information display member 11 is the direction toward the camera, that is, the user.
[0027]
Then, since the side direction display displayed in a pattern on the information display surface 11a of the information display member 11 is only visible to the front side, the front side is E indicating the east side, or a symbol indicating it is predetermined. If it can be read, it can be recognized as the 4 o'clock direction of the information display member 11, and if it indicates the west side, it can be recognized as the 8 o'clock direction.
[0028]
Thus, the camera position, that is, the direction of the user position from the information display member 11 is specified from the captured image of the information display surface 11a of the information display member 11.
[0029]
Next, the information display is performed from the vertical angle of view of the camera imaging screen, the angle of view T of the information display member 11 reflected on the screen, and the diameter (in this case, 1 m) of the information display member 11 set in advance. The distance between the installation position A of the member 11 and the current position B of the userABIs
AB= 0.5 / tan (T / 2)
Is required.
[0030]
In addition, the direction of the position of the user from the information display member 11 is specified, and the distance between the installation position A of the information display member 11 and the current position B of the user.ABThe method of obtaining will be described later with reference to FIGS. 3 and 4.
[0031]
As shown in FIGS. 2A and 2B, the information display member 11 according to the present invention has, for example, a predetermined shape on the information display member 11 of patterned information based on a geometric shape, here, a square lattice. In a pre-sized disk or polygonal shape that displays information including latitude, longitude, the direction of the information display member, etc., up to the metric order described in accordance with language, and in some cases information including elevation Set.
[0032]
At this time, it is possible to display information with higher density by making the pattern information multicolor.
[0033]
In this case, however, the implementation system must be colored.
[0034]
Here, as shown in FIG. 3, the position of the electronic camera held by the user is A, and the direction is an angle θ with respect to true north.
[0035]
Further, when the information display member 11 according to the present invention is located at the position B away from the user and is oriented in the direction of the angle φ with respect to the true north, the information display is viewed from the camera of the user. When the ratio of the horizontal outer diameter to the vertical outer diameter of the member 11 is p,
p = cos (ψ)
Therefore
ψ = cos^-1(P) (however ψ> 0)
Is obtained.
[0036]
From this, the direction of the camera is
θ = φ + ψ−π
Further, the known value of φ and the direction information of the side surface of the information display member 11 (the direction in which the side surface is auxiliary to the side surface of the information display member 11) can be described by the information on the information display member 11 Can be given a solution for the above p.
[0037]
Further, as shown in FIG. 4, when the field angle of view of the camera at the position A is α, the field angle ratio within the field of view of the information display member 11 at the position B shown near the center of the screen. Is q, the outer diameter of the information display member 11 is d, and the distance between AB is t,
d / 2t = tan (αq / 2)
Therefore t is
t = d / 2 tan (αq / 2)
Given in.
[0038]
Based on the relative distance and relative direction between the information display member 11 thus obtained and the user, the position coordinates (world coordinates, latitude / longitude) of the information display member 11 itself are determined. By obtaining from the patterning information, the position coordinates of the user or the camera can be determined.
[0039]
Furthermore, the first digit of the information displayed as a pattern of the information display member 11 itself is assigned to the east / west section of longitude, the subsequent eight digits are assigned to the integer part notation of longitude, and the subsequent seven digits are assigned. Allocates to the decimal point notation.
[0040]
Then, after a few digits representing the latitude notation with a specific symbol, etc., the first 1 digit is assigned to the north-south division of latitude as in the longitude notation, and the subsequent 7 digits are assigned to the integer part notation of latitude. Are assigned to the notation of the decimal point of longitude.
[0041]
Of course, the wording of the information displayed in a pattern of the information display member 11 itself is arbitrary by the installer as long as the world coordinates can be specified, and the number of digits in the numerical notation may be increased or decreased depending on the accuracy of the notation. In addition, providing a reading error correction digit is optional in terms of the information displayed in a pattern.
[0042]
However, as a matter of course, it is necessary to generalize the wording of information displayed in a pattern of the information display member 11 itself when it is intended to have versatility as well as a specific user. Needless to say.
[0043]
Here, as described above, the absolute position (world coordinates) of the user with respect to the information display member 11 is the directional relationship with the information display member 11, the relative distance to the information display member 11, and the absolute position of the information display member 11 itself ( It can be specified from three types of information (world coordinates).
[0044]
In addition to the patterning information on the information display member 11 or instead of the patterning information notation, spatial position information (world coordinates, latitude / longitude) is displayed on the information display member using alphanumeric characters and / or Japanese notation. , Elevation), the opposite direction of the information display member, and the horizontal and vertical dimensions of the information display member.
[0045]
That is, the information display member on the camera finder or the camera monitor can be used without any image processing by using alphanumeric characters or Japanese notation instead of pattern information reading or in addition to the pattern information notation. It is possible to directly understand the information indicated by
[0046]
Furthermore, when the image processing has a literacy function, not only can the position estimation be performed using the function, but also an error correction function for the patterned information can be realized.
[0047]
Further, as shown in FIG. 2A, the azimuth display information 11c in which the information display surface 11a of the information display member 11 displays the vertical upper or lower direction, the horizontal direction, and the azimuth is used. Thus, the elevation angle of the photographing apparatus can be estimated, and the altitude difference between the photographing position and the display board can be obtained from the already calculated distance information.
[0048]
(Second Embodiment)
FIGS. 5A and 5B are front views showing the information display member 11 according to the first embodiment of the present invention.
[0049]
In the second embodiment, an information display member 21 is used in which the combination of geometric shapes of the information display member 11 is a pattern that mainly expresses binary numbers.
[0050]
That is, as shown in FIG. 5A, when the houndstooth pattern information notation is used, as shown in FIG. 5B, the concentric pattern information notation is used. In either case, the shade of monochrome is set to represent the numerical value 1 or 0 as it is.
[0051]
As described above, by using the information display member 21 based on the pattern information in binary notation, the computer processing of the image is facilitated, and the compatibility between the implementation system according to the present invention with other pattern information reading devices is achieved. Can be made easier.
[0052]
As shown in FIG. 5 (a), the information display surface 21a of the information display member 21 supported by the support bar 21b displays the vertical upper or lower direction, the horizontal direction, and the orientation. By using the azimuth display information 21c, the elevation angle of the photographing apparatus can be estimated, and the elevation difference between the photographing position and the display board can be obtained from the already calculated distance information.
[0053]
(Third embodiment)
In this third embodiment, the information display members 11 and 21 according to the first and second embodiments are electronic display devices such as LCDs and CRTs (LEDs that can be realized relatively easily at present) Display device, plasma display, CRT, LCD, etc.), the display contents can be edited and controlled from a remote location.
[0054]
Further, when a rotation mechanism or the like is added to the information display surfaces 11a and 21a of the information display members 11 and 21, a control mechanism for changing the direction information of the information display member over time is added according to the rotation. Shall.
[0055]
In addition to position / direction information, weather and other current information can be displayed.
[0056]
In addition, the present specification shown in the embodiment as described above includes inventions as shown in the following supplementary notes 1 to 3 in addition to the claims 1 to 3 shown in the claims. .
[0057]
(Supplementary note 1) An information display member having an information display surface with a known size, coordinate information indicating the position of the information display member, and direction information indicating a direction in which the information display surface faces. An information display member which is displayed on the information display surface in a pattern to represent.
[0058]
(Function and effect)
If the image is taken with a camera, the position of the camera can be known only from the image information.
[0059]
(Supplementary note 2) The information display member according to supplementary note 1, wherein the coordinate information is latitude and longitude.
[0060]
(Function and effect)
Application to GPS is easy.
[0061]
(Supplementary note 3) The supplementary note 1 or 2, wherein a pattern representing elevation information indicating the elevation of the information display member and a pattern representing a vertical horizontal direction are further displayed on the information display surface. Information display member.
[0062]
(Function and effect)
The elevation of the camera position is also required.
[0063]
(Additional remark 4) The said pattern expresses information by arrangement | positioning of the area | region where two density | concentrations differ, The information display member as described in any one of Additional remark 1 thru | or 3 characterized by the above-mentioned.
[0064]
(Function and effect)
Processing by a computer becomes easy.
[0065]
(Supplementary note 5) The information display member according to any one of supplementary notes 1 to 4, wherein the pattern is a character, or a character having information representing the pattern is displayed together with the pattern.
[0066]
(Function and effect)
The display can be understood by humans.
[0067]
(Additional remark 6) The said information display surface has a side part, The information which shows the direction which the said side part has faced is displayed on the said side part. The information display member described.
[0068]
(Function and effect)
The direction can be determined uniquely.
[0069]
(Appendix 7) A step of capturing an image of the information display member according to Appendix 1 with a camera to obtain an image;
Obtaining a direction in which the camera faces from the length ratio of the information display surface in the image and the direction information displayed on the information display surface;
Obtaining the distance between the camera and the information display surface from the size of the information display surface shown in the image;
Obtaining the position coordinates of the camera from the direction in which the camera is directed, the distance, and coordinate information displayed on the information display surface;
A position detection method comprising:
[0070]
(Supplementary Note 8) A step of obtaining an image by imaging the information display member according to Supplementary Note 3 with a camera;
Obtaining the elevation of the camera from the elevation information displayed on the information display surface and the elevation angle of the camera;
A position detection method comprising:
[0071]
(Supplementary note 9) It is a flat plate shape or curved plate shape that expresses patterning information using a combination of geometric shapes and / or a combination of colors, and the contents of the patterned notation information include its own spatial position information and / or An information display member comprising direction information.
[0072]
(Corresponding Embodiment of the Invention)
The first embodiment corresponds to the embodiment relating to the present invention.
[0073]
(Function and effect)
By implementing the present invention,
(1) From the code information on the information display member, the direction facing the display plate (the same applies to the back surface) and the approximate direction of the side surface of the information display member,
(2) From the code information on the information display member, the installation world coordinates of the display board or longitude, latitude,
(3) The expected angle of the information display member that is the subject and the angle of view of the camera itself from the known camera information of the user,
(4) The diameter or vertical / horizontal dimensions of the information display member that is predetermined or displayed in the code information on the information display member,
(5) A horizontal / vertical ratio of the outer shape of the information display member on the image acquired (input) by the camera,
Etc. can be obtained.
[0074]
Then, by using the information of (1) and (5) above, the direction in which the user or the camera is facing can be estimated (however, excluding on the pole).
[0075]
Further, by using the information (3) and (4), the distance between the user or the camera and the information display member can be calculated.
[0076]
Furthermore, the world coordinates or latitude / longitude of the user or camera position can be estimated from the information (2), the direction of the user or camera, and the distance between the information display boards.
[0077]
(Additional remark 10) The outer frame or external shape itself of the information display member of Additional remark 9 above and the combination of the geometric pattern which means the position of the information display member described on the information display member are imaged, and the known information Position / orientation detection characterized in that a distance is calculated from a ratio between the actual size of the display member, the angle of view of the image pickup device, and the size of the information display member taken in the image, and the image pickup position is known. Method.
[0078]
(Corresponding Embodiment of the Invention)
The first embodiment corresponds to the embodiment relating to the present invention.
[0079]
(Function and effect)
The present invention is basically a position detection method using the information display member described in Supplementary Note 9, but in addition to this, the outer shape of the information display member or the shape / pattern of the outer frame also represents the meaning of information display. By providing the horizontal and vertical dimensions of the information display member itself or a slight thickness on the side surface of the information display member and displaying the direction there, it is possible to provide more reliable position information.
[0080]
(Additional remark 11) The combination of the geometric shape of the information display member of the said additional remark 9 mainly describes a binary number, The information display member characterized by the above-mentioned.
[0081]
(Corresponding Embodiment of the Invention)
The second embodiment corresponds to the embodiment relating to the present invention.
[0082]
(Function and effect)
By using the pattern information in the binary notation, it is possible to facilitate the computer processing of the image and the compatibility between the implementation system according to the present invention with another pattern information reading apparatus. .
[0083]
(Additional remark 12) The information display member of the said additional remark 9 is comprised with an electronic display body, It is possible to change display pattern information freely by electrical signal operation, The information display member characterized by the above-mentioned.
[0084]
(Corresponding Embodiment of the Invention)
The embodiment relating to the present invention corresponds to the third embodiment.
[0085]
(Function and effect)
In addition to the position information described in the above supplementary note 9, in consideration of the user from a direction in which direction information is relatively difficult to be taken, an electronic display device is used as the information display member, so that a predetermined cycle like a lighthouse is obtained. By rotating it (which may be irregular) and changing the direction information of the information display member according to this rotation angle, or by displaying the change (rewrite) rule itself on the information display member in some cases, The direction information from the user or the camera can be estimated more accurately.
[0086]
In this case, the apparent horizontal / vertical ratio of the information display member is used for direction estimation. However, by defining the direction of rotation, it is easy to combine the solutions for direction estimation.
[0087]
Furthermore, it is also possible to add the current information to the information display member for description, or to intentionally limit the position accuracy.
[0088]
(Supplementary note 13) In the information display member of Supplementary note 9, the spatial position information and / or direction information of the information display member is longitude, latitude, direction, altitude, alphabets, numbers, and the like indicating the size of the information display member itself, An information display member characterized by being written in Japanese.
[0089]
(Corresponding Embodiment of the Invention)
The embodiment relating to the present invention corresponds to a modification of the first embodiment.
[0090]
(Function and effect)
By using alphanumeric characters or Japanese notation instead of pattern information reading or in addition to pattern information notation, the user can display the information display member on the camera finder or camera monitor without image processing. It is possible to understand the information directly.
[0091]
Furthermore, when the image processing has a literacy function, not only can the position estimation be performed using the function, but also an error correction function for the patterned information can be realized.
[0092]
(Supplementary Note 14) In the method of Supplementary Note 10, using the display information in which the vertical display direction or the downward direction, the horizontal direction, and the azimuth are displayed in the information display surface of the information display member, the elevation angle of the photographing apparatus is set. A position and orientation detection method characterized in that an altitude difference between the photographing position and the display board is obtained from estimated distance information that has been estimated.
[0093]
(Corresponding Embodiment of the Invention)
Embodiments relating to the present invention correspond to the respective modifications of the first and second embodiments.
[0094]
(Function and effect)
In the present invention, the user or camera obtained in the first embodiment and the information obtained from the vertical upper or lower display mark of the information display surface in the information display member and the elevation angle measurement value (not shown) of the user or camera. Based on the distance between the display members, a difference in height relative to the elevation of the information display member is obtained, and the elevation of the user or camera is estimated.
[0095]
By implementing the present invention, it is possible to correct the world coordinates and estimate the altitude of the user or camera.
[0096]
【The invention's effect】
Therefore, as described above, according to the present invention, when the user wants to know his / her position / posture using only image processing means, the user's vehicle or the user's boarding vehicle, etc. Information display member capable of obtaining information capable of detecting its own position and orientation without requiring recognition of two points of a triangulation by capturing an image with an integrated image input device, and the same A position detection method using can be provided.
[Brief description of the drawings]
FIG. 1 is a block diagram for explaining a conventional technique for displaying information related to an image from an image input means.
FIG. 2 is a diagram showing a first embodiment of the information display member of the present invention.
FIG. 3 is a view for explaining the function of the first embodiment of the information display member of the present invention.
FIG. 4 is a view for explaining the function of the first embodiment by the information display member of the present invention.
FIG. 5 is a diagram showing a second embodiment of the information display member of the present invention.
[Explanation of symbols]
11 ... Information display member,
11a ... Information display surface,
11b ... support rod,
11c: Direction display information,
21 ... Information display member,
21a ... Information display surface,
21b ... support rod,
21c: Direction display information.

Claims (5)

An information display member having an information display surface of a known size,
Coordinate information indicating the position of the information display member;
Direction information indicating the direction of the information display surface is
Information display member, characterized in that it is displayed on the information display screen in also the combination of geometric shapes representing these using a combination of multi-colored and geometry patterned information.   2. The information display member according to claim 1, wherein a pattern representing altitude information indicating the altitude of the information display member and a pattern representing a vertical horizontal direction are further displayed on the information display surface. Capturing the information display member according to claim 1 with a camera to obtain an image;
Obtaining a direction in which the camera faces from the length ratio of the information display surface shown in the image and the direction information displayed on the information display surface;
Obtaining the distance between the camera and the information display surface from the size of the information display surface shown in the image;
Obtaining the position coordinates of the camera from the direction in which the camera is directed, the distance, and coordinate information displayed on the information display surface;
A position detection method comprising:   2. The information display member according to claim 1, wherein the combination of geometric shapes in the patterned information is patterned information representing a binary number.   2. The information display member according to claim 1, wherein the information display member is formed of an electronic display body, and display pattern information can be freely changed by an electric signal operation.

Images