JP4242529B2 - Related information presentation device and related information presentation method - Google Patents

Related information presentation device and related information presentation method Download PDF

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Publication number
JP4242529B2
JP4242529B2 JP30556599A JP30556599A JP4242529B2 JP 4242529 B2 JP4242529 B2 JP 4242529B2 JP 30556599 A JP30556599 A JP 30556599A JP 30556599 A JP30556599 A JP 30556599A JP 4242529 B2 JP4242529 B2 JP 4242529B2
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Japan
Prior art keywords
position
information
related information
image
subject
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JP30556599A
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Japanese (ja)
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JP2001126051A (en
Inventor
明人 斉藤
隆男 柴▲崎▼
祐一郎 赤塚
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オリンパス株式会社
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Priority to JP30556599A priority Critical patent/JP4242529B2/en
Priority claimed from US09/688,925 external-priority patent/US6577249B1/en
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Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a related information presentation device and a related information presentation method for displaying information related to an object in an image.
[0002]
[Prior art]
Conventionally, as a technique for displaying information related to an image from an image input means, for example, a technique disclosed in Japanese Patent Laid-Open No. 10-267671 is known.
[0003]
FIG. 1 shows a related information display technique disclosed in Japanese Patent Laid-Open No. 10-267671.
[0004]
That is, in this related information display technique, as shown in FIG. 1, for the purpose of displaying information related to the image from the image input means, the approximate position at the time of image acquisition by the image acquisition unit 51 is determined as a position information acquisition unit. 52, the angle is acquired from the camera attribute information acquisition unit 53, and the view image of the field of view seen from the position is acquired by the control unit 58A based on the three-dimensional map information from the map information management unit 55. The label information output unit 57A superimposes the label information from the label information creation unit 56A so as to determine the related information to be superimposed by taking pattern matching with the input image.
[0005]
Further, as a method for obtaining the position and orientation of the image input means from the reference mark position, Reference 1 “High-Precision Real-Time Estimation Method of Rectangular Marker Position and Orientation with Monocular for VR Interface” (3DI Image Conference '96 Preliminary Report pp. 167-172 Akira Takahashi, Ikuo Ishii, Hideo Makino, Makoto Naka Shizu 1996) are known.
[0006]
FIG. 2 shows a method for obtaining the position and orientation of the image input means disclosed in this document 1.
[0007]
That is, in this method, when Oc is a viewpoint, po is a projected image diagonal intersection, and Po is a rectangular diagonal intersection in FIG.
[0008]
[Expression 1]
[0009]
The posture is obtained by obtaining x ′ that minimizes the angle.
[0010]
Here, the variable vector x ′ is x ′ = (α 1 ′ β 1 ′, α 2 ′).
It is.
[0011]
For the position, if d is estimated by the method of least squares to minimize the distance from Ocpi to the vertex Pi,
[0012]
[Expression 2]
[0013]
Given in.
[0014]
Next, the position can be determined by taking the average of the depth values obtained from each vertex.
[0015]
Reference 2 “Mixed Real 11ty” (ISBN4-274-90283-8 Ohmsha, Ltd., Chapter 6: Augmented Reality Tracking in Natural Feature Environments, U. Neumann, S. Yoh. (1999 pp. 101-130) discloses a technique for obtaining the initial position of the image input means by using a known reference point called Fiducial Mark.
[0016]
In this case, in this document 2, a plurality of feature points are extracted to obtain a projection position in the input image, and the feature points are tracked according to the movement of the input device. Asking for.
[0017]
[Problems to be solved by the invention]
However, in the above-mentioned Japanese Patent Application Laid-Open No. 10-267671, in order to determine superposition related information, a view image in the field of view is reconstructed from a three-dimensional map including information on the height direction and matching is performed. There is a problem that it takes a long time to calculate.
[0018]
Further, as shown in the above-mentioned paper by Takahashi et al. (Reference 1), the position and orientation of the image input means can be detected from the position coordinates of the four corners of the reference mark itself, but the distance between the camera and the mark is increased. In such a case, there is a problem that the projection distance in the field of view at the four corners is reduced, and the detection accuracy is deteriorated.
[0019]
Also, it is often impractical to use large marks.
[0020]
This invention pays attention to such a point, and makes it a subject to provide the related information display apparatus which can determine the related information to superimpose at high speed.
[0021]
Further, in the prior art according to the above-described document 2, in order to obtain the initial position of the image input means, it is necessary to record the coordinates of known reference points separately or prepare a reference table of the reference points and coordinates. It was.
[0022]
However, when the prior art according to this document 2 is used in a wide area or in a small terminal, the number of coordinates that can be recorded is limited and currently extracted from a large number of reference points. Since it takes time to match with the reference point, it is used in a limited area, and there is a problem that it is not versatile.
[0023]
This invention pays attention to such a point, and makes it a subject to provide the related information display apparatus which can obtain | require the coordinate position by detecting a reference point.
[0024]
The present invention has been made in view of the above circumstances, and related information presenting apparatus and related information presenting capable of determining related information to be superimposed at high speed and obtaining a coordinate position by detecting a reference point. It aims to provide a method.
[0025]
[Means for Solving the Problems]
According to the present invention, in order to solve the above problems,
(1) In a related information presentation device that superimposes and displays related information of each part of the subject at a corresponding position on an image of the subject,
An image input means for inputting an image obtained by imaging the subject by including in the imaging range one mark on which a pattern representing position information of four or more feature points of the subject is displayed;
Position information management means for reading the pattern from the image input by the image input means and acquiring position information of the four or more feature points ;
Position information acquisition means for obtaining the position and orientation of the image input means from the acquired position information of four or more feature points acquired by the position information management means;
Related information generating means for determining the position of each part of the subject on the image from the position and orientation of the image input means determined by the position information acquiring means;
And information superimposing display means for superimposing displaying the related information in the corresponding position based on the position on the upper Symbol image obtained by the related information generating means,
There is provided a related information presentation device characterized by comprising:
[0026]
Further, according to the present invention, in order to solve the above problems,
(2) The related information presentation device according to (1), wherein the position information of the four or more feature points represented by the pattern displayed on the mark includes the position information of the mark itself. Is done.
[0027]
Further, according to the present invention, in order to solve the above problems,
(3) A method of superimposing and displaying related information of each part of the subject at a corresponding position on an image obtained by capturing the subject,
Including one mark displaying a pattern representing position information of four or more feature points of the subject in an imaging range and inputting an image of the subject by an image input means;
Reading the pattern and obtaining positional information of the four or more feature points ;
Obtaining the position and orientation of the image input means from position information of the four or more feature points ;
Obtaining the position of each part of the subject on the image from the position and orientation of the image input means;
Superimposing and displaying the related information at a corresponding position based on the position on the image;
There is provided a related information presentation method characterized by comprising:
[0028]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of the present invention will be described below with reference to the drawings.
[0029]
(First embodiment)
FIG. 3 is a block diagram showing the configuration of the related information presentation device according to the first embodiment of the present invention.
[0030]
As shown in FIG. 3, the related information presentation apparatus according to the first embodiment includes an image input means 1, a feature point 2, a feature point recognition means 3, a position information management means 4, and a position information acquisition means. 5, a related information generating unit 6, an information superimposing display unit 7, a reference mark 8, and a reference mark recognizing unit 10.
[0031]
In the related information presenting apparatus, first, based on the image data input by the image input means 1, the position information management means 4 has a reference mark 8 for indicating position information and the like in the input image. Find out if.
[0032]
As the reference mark 8, a pattern or a two-dimensional pattern is used.
[0033]
It is assumed that data of several bytes to several thousand bytes can be recorded on the reference mark 8 using these patterns or two-dimensional patterns.
[0034]
As for the position information recorded on the reference mark 8, there are a method represented by latitude and longitude called world coordinates, a method of determining the origin in the use range of the apparatus, and a method of determining a coordinate system.
[0035]
Here, when latitude and longitude are used as the position information recorded on the reference mark 8, for example, in the vicinity of Tokyo, 0.001 second is about 3 cm, and such accuracy is required. About 10 bytes are enough.
[0036]
Further, with respect to the direction in which the reference mark 8 faces, the posture can be expressed by three angles (total 6 bytes) of yaw, pitch, and Roll.
[0037]
As a result, the position information recorded on the reference mark 8 is recorded in 16 bytes including the latitude and longitude with respect to the north and the horizontal as a reference, so that the position where the reference mark 8 is placed and the direction in which the reference mark 8 is facing are recorded. Can be recorded.
[0038]
Then, the reference mark 8 in which such positional information and the like are recorded in a pattern is recognized as the mark 8 in the input image from the image input unit 1 by the mark recognition unit 10.
[0039]
That is, the mark recognizing unit 10 obtains position information of the mark included in the recognized mark.
[0040]
Then, the position information management means 4 associates with the mark and acquires position information corresponding to the feature point (2) in the screen recognized by the feature point recognition means 3.
[0041]
Next, the position information management unit 4 records the coordinate data of the plurality of feature points 2 extracted in the vicinity of the reference mark 8 together with the acquired data of the reference mark 8.
[0042]
These feature points 2 are intersections of line segments in an image whose coordinate position is known, points that are prominent in brightness, saturation, and the like.
[0043]
Specifically, the feature point 2 can be extracted by subjecting the captured image to differentiation processing or thinning processing, and further binarizing with a certain threshold value.
[0044]
FIG. 4 schematically shows these feature points.
[0045]
That is, FIG. 4 shows the case where there are feature points P1 to P5 in addition to the reference mark 8.
[0046]
Here, the position and orientation information of the reference mark 8 is recorded as described above.
[0047]
For the feature points P1 to P5, the positions (x1, y1, z1) to (x5, y5, z5) are measured in advance and recorded in the reference mark 8.
[0048]
In this case, a total of 66 bytes of data is recorded in the reference mark 8.
[0049]
Therefore, if a two-dimensional pattern having a capacity of several thousand bytes is used as the reference mark 8, recording and reproduction of these data can be easily performed.
[0050]
In FIG. 4, the image input means 1 has the reference mark 8 and the feature points P1, P2, P3 in the field of view.
[0051]
Here, by reading the information of the reference mark 8 by the position information management means 4, the position and orientation of the reference mark 8 and the position coordinates of the feature points P1 to P5 are determined.
[0052]
These position / posture and feature point information are stored in the position information management means 4 as described above.
[0053]
Next, as disclosed in the prior art, the position information acquisition unit 5 calculates the position and orientation of the image input unit 1 from the feature points whose positions are known.
[0054]
Further, since the direction of the reference mark 8 is known, the attitude of the image input means 1 in the world coordinates can also be obtained.
[0055]
Thus, using the obtained position and orientation information of the image input means 1, related information to be superimposed and displayed within the field of view is generated using the related information generation means 6, and the information superimposed display means 7 generates a predetermined information in the image. Can be superimposed and displayed at the position.
[0056]
Here, examples of the related information to be displayed in a superimposed manner include an instruction and explanation of the position of a building or a landscape, a description of a mechanical facility or the like in the field of view, and the like.
[0057]
These should be displayed overlaid on the information object (building, landscape, machinery, etc.) or near the periphery.
[0058]
The information to be superimposed is stored in advance in the related information generating unit 6.
[0059]
Further, examples of the information superimposing display means 7 include CRT, LC, and the like, and there are a head-mounted HMD, a portable PDA, and the like.
[0060]
Next, in this state, when the image input means 1 is moved and rotated as shown in FIG. 5, the positions of the reference mark 8 and the feature points P1 to P5 projected two-dimensionally in the field of view change, and the related information is superimposed. The position to be displayed moves.
[0061]
In this example, the feature points P1 to P5 are in the field of view, but the projected position and the world of the feature points read out from the reference mark 8 and stored in the position information management means 4 as described above. From the coordinates, the position and orientation of the image input means 1 can be obtained, and related information can be subsequently superimposed and displayed in the same manner as described above.
[0062]
At this time, even if the reference mark 8 is out of the field of view, the position and orientation of the image input means 1 can be obtained if there are four or more feature points in the field of view.
[0063]
Note that the feature point may be a two-dimensional pattern similar to the reference mark 8 or a similar pattern. In that case, the pattern includes information indicating the shape of the object, that is, the shape of a building such as a building or the shape of a mountain. By recognizing the pattern, it is also possible to reconstruct the shape of the object and to superimpose it on the image as related information.
[0064]
(Second Embodiment)
FIG. 6 is a block diagram showing a configuration of a related information presentation device according to the second embodiment of the present invention.
[0065]
As shown in FIG. 6, in the related information presentation device according to the second embodiment, first, based on the image data input by the image input unit 1, the position information management unit 4 includes a position in the input image. It is checked whether or not the reference mark 8 for indicating information or the like exists.
[0066]
Here, it is assumed that there are three or more feature points 2 in the field of view.
[0067]
Further, as the reference mark 8, a pattern indicating position and orientation information or a two-dimensional pattern is used as in the first embodiment, but the position and orientation information of the reference mark 8 and the reference mark 8 are recorded in advance. Unlike the first embodiment, the position and orientation information of the feature point 2 is not recorded.
[0068]
In this case, the reference mark 8 has, for example, a square shape, and the position information (x0, y0, z0) recorded in the reference mark 8 is the coordinates of the point at the upper left corner of the mark.
[0069]
Further, if the length a of one side is given as the size information of the reference mark 8, the relative position information with respect to the upper left corner of the other three corners can be obtained.
[0070]
When the upper left corner point is (0, 0, 0), the upper right corner point is (a, 0, 0), the lower left corner point is (0, a, 0), and the lower right corner point. Becomes (a, a, 0).
[0071]
The coordinates of these relative coordinate systems can be converted into the world coordinate system by the following determinant.
[0072]
[Equation 3]
[0073]
Here, (x wp , y wp , z wp ) represents the world coordinate value of the upper left corner point, and (x lp , y lp , z lp ) represents the coordinates in the relative coordinate system.
[0074]
L is the following determinant.
[0075]
[Expression 4]
[0076]
Here, Rot represents the attitude of the reference mark in the world coordinate system, and tx. ty. tz represents the coordinate value of the upper left corner point in the world coordinate system.
[0077]
Using these coordinates, the position and orientation of the image input means 1 can be obtained.
[0078]
Next, the feature points in the field of view are associated, and the position of the feature points in the world coordinate system is estimated.
[0079]
For this estimation, as disclosed in the prior art, a plurality of continuous images in time series are used.
[0080]
Meanwhile, the reference mark must be in the field of view, but once the world coordinates of the feature point are estimated, after that, if there are four or more feature points in the screen, even if the reference mark is not in the field of view. Thereby, the position and orientation of the image input means 1 are obtained.
[0081]
Hereinafter, as in the case of the first embodiment, related information can be superimposed and displayed.
[0082]
Note that the image input unit 1 and the related information generation unit 7 are not necessarily connected online.
[0083]
That is, even if a medium such as a photograph is used, if position and orientation information about the image input means 1 is obtained, related information can be superimposed and displayed on the photograph.
[0084]
In addition, the present specification shown in the embodiment as described above includes inventions as shown in the following supplementary notes 1 to 12 in addition to the claims 1 to 3 shown in the claims. Yes.
[0085]
(Additional remark 1) In the related information presentation apparatus which superimposes and displays the relevant information of each part of the subject at the corresponding position on the image obtained by capturing the subject,
An image input means for inputting an image obtained by imaging the subject by including in the imaging range a mark on which a pattern representing position information of four or more points of the subject is displayed;
Position information management means for reading the pattern and acquiring the position information;
Position information acquisition means for obtaining the position and orientation of the image input means from the position information;
Related information generating means for obtaining the position of each part of the subject on the image from the position and orientation of the image input means;
Information superimposed display means for superimposing and displaying the related information at a corresponding position based on the result of the related information generating means;
A related information presentation device characterized by comprising:
[0086]
(Supplementary note 2) The related information presenting apparatus according to supplementary note 1, wherein position information of four or more points represented by the pattern displayed on the mark includes position information of the mark itself.
[0087]
(Additional remark 3) In the related information presentation apparatus which superimposes and displays the relevant information of each part of the subject at the corresponding position on the image obtained by capturing the subject,
Image input means for capturing the subject and inputting an image;
Position information management means storing position information of four or more points of the subject obtained in advance from a plurality of images whose positions and orientations of the image input means are known;
Position information acquisition means for obtaining the position and orientation of the image input means from the position information;
Related information generating means for obtaining the position of each part of the subject on the plane image from the position and orientation of the image input means;
Information superimposed display means for superimposing and displaying the related information at a corresponding position based on the result of the related information generating means;
A related information presentation device characterized by comprising:
[0088]
(Supplementary Note 4) The position and orientation of the image input means in the plurality of images are as follows:
In capturing each image, the image input means captures the subject by including a mark displaying a pattern indicating the size and position information of the mark in the imaging range,
Supplementary note 3 wherein the pattern is read to acquire the mark size and position information, and the position and orientation of the image input means are obtained from the acquired mark size and position information. Related information presentation device.
[0089]
(Supplementary Note 5) Image input means (1),
Mark recognition means (10) for recognizing the mark (8) in the input image from the image input means, and acquiring position information of the mark included in the recognized mark;
Feature point recognition means (3) for recognizing the feature point (2) in the screen;
Position information management means (4) that associates with the mark in advance and acquires position information corresponding to the feature point (2) in the screen recognized by the feature point recognition means;
Position information acquisition means (5) for acquiring position and orientation information of the image input means from position information of the marks and / or feature points;
Related information generating means (6) for generating information related to the input image visual field based on the acquired position and orientation information;
Superimposing display means (7) for superimposing and displaying the generated related information on the input image;
A related information display device.
[0090]
(Function)
A reference mark (8) and a plurality of feature points (2) or marks around the reference mark (8) are prepared near the place where the related information is displayed, and the reference mark and the feature to be associated are included in the mark. The position and orientation information of the point or mark is recorded in advance.
[0091]
Then, the position and orientation of the reference mark (8) and the feature point (2) are determined using the information, and the position and orientation of the image input means are detected by using the information together with the position information projected in the field of view. To do.
[0092]
(effect)
Since the position and orientation of the image input means can be determined based only on the reference mark and the feature point, information related to the visual field image can be superimposed and displayed at high speed.
[0093]
(Supplementary note 6) The related information display device according to supplementary note 5, wherein the feature point (2) to be associated is not created for the purpose of artificially using it as a mark.
[0094]
(Supplementary note 7) The related information display device according to supplementary note 5, wherein there are a plurality of feature points (2) to be associated.
[0095]
(Supplementary note 8) The related information display device according to supplementary note 5, wherein the position information acquisition means for acquiring the position and orientation information uses one mark as a feature point and a mark including a plurality of feature points.
[0096]
(Supplementary note 9) Image input means (1);
A mark recognition means (10) for recognizing the mark (8) in the input image from the input means and acquiring position information of the mark included in the recognized mark;
Position information management means (4) for associating with the mark and acquiring position information corresponding to the feature point (2) in the screen recognized by the feature point recognition means (3);
Means (5) for acquiring position and orientation information of the input means from the position information of the mark and / or feature point;
Means (6) for generating information related to the image field based on the acquired position and orientation information;
Superimposing display means (7) for superimposing and displaying the generated related information on the input image;
A related information display device.
[0097]
(Function)
A reference mark (8) and a plurality of feature points (2) or marks around the reference mark (8) are prepared near the place where the related information is displayed, and the position and orientation of the reference mark are included in the mark. Record in advance.
[0098]
Then, the position / orientation of the reference mark (8) is determined using the information, and the position / orientation of the image input means is detected based on the information, together with the position information projected into the field of view.
[0099]
At this time, by associating feature points in the field of view, tracking can be continued even if the reference mark goes out of the field of view due to movement or direction change of the image input means.
[0100]
(effect)
Since the position and orientation of the image input means can be determined only by the reference mark and the feature point, a related information display device that can be used for general purposes can be realized.
[0101]
(Supplementary note 10) The related information display device according to supplementary note 9, wherein the feature point (2) to be associated is not created for the purpose of artificially using it as a mark.
[0102]
(Supplementary note 11) The related information display device according to supplementary note 9, wherein there are a plurality of feature points (2) to be associated.
[0103]
(Supplementary note 12) The related information display device according to supplementary note 9, wherein the position information acquisition unit that acquires the position and orientation information uses a mark with one feature point and a plurality of marks with feature points.
[0104]
【The invention's effect】
Therefore, as described above, according to the present invention, the related information presenting apparatus and the related information presenting method that can determine the related information to be superimposed at high speed and obtain the coordinate position by detecting the reference point. Can be provided.
[Brief description of the drawings]
FIG. 1 is a diagram for explaining a related information display technique disclosed in Japanese Patent Laid-Open No. 10-267671.
FIG. 2 is a diagram for explaining a method for obtaining a position and orientation of an image input unit disclosed in Document 1. FIG.
FIG. 3 is a block diagram showing a configuration of a related information presentation device according to the first embodiment of the present invention.
FIG. 4 is a diagram schematically showing feature points used in the related information presentation device according to the first embodiment of the present invention.
FIG. 4 is a diagram for explaining the operation of the related information presentation device according to the first embodiment of the present invention.
FIG. 6 is a block diagram showing a configuration of a related information presentation device according to a second embodiment of the present invention.
[Explanation of symbols]
1 ... image input means,
2 ... Features
3 ... feature point recognition means,
4. Location information management means,
5 ... Position information acquisition means,
6 ... related information generation means,
7. Information superimposing display means,
8 ... Reference mark,
10: Reference mark recognition means.

Claims (3)

  1. In a related information presentation device that superimposes and displays related information of each part of the subject at a corresponding position on an image obtained by capturing the subject,
    An image input means for inputting an image obtained by imaging the subject by including in the imaging range one mark on which a pattern representing position information of four or more feature points of the subject is displayed;
    Position information management means for reading the pattern from the image input by the image input means and acquiring position information of the four or more feature points ;
    Position information acquisition means for obtaining the position and orientation of the image input means from the acquired position information of four or more feature points acquired by the position information management means;
    Related information generating means for determining the position of each part of the subject on the image from the position and orientation of the image input means determined by the position information acquiring means;
    And information superimposing display means for superimposing displaying the related information in the corresponding position based on the position on the upper Symbol image obtained by the related information generating means,
    A related information presentation device characterized by comprising:
  2. 2. The related information presenting apparatus according to claim 1, wherein the position information of the four or more feature points represented by the pattern displayed on the mark includes the position information of the mark itself.
  3. A method of superimposing and displaying related information of each part of the subject at a corresponding position on an image obtained by capturing the subject,
    Including one mark displaying a pattern representing position information of four or more feature points of the subject in an imaging range and inputting an image of the subject by an image input means;
    Reading the pattern and obtaining positional information of the four or more feature points ;
    Obtaining the position and orientation of the image input means from position information of the four or more feature points ;
    Obtaining the position of each part of the subject on the image from the position and orientation of the image input means;
    Superimposing and displaying the related information at a corresponding position based on the position on the image;
    The related information presentation method characterized by having.
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