JPH11211419A - Coordinate specifying device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To specify an optimum target coordinate when a plurality of target candidate coordinates are present by specifying a plurality of straight lines connecting a plurality of detecting means to a target from the outputs of the detecting means and their mounting coordinates, operating the coordinate of the intersection or the vicinity thereof to operate the evaluation values to target candidate coordinates, and selecting the optimum target coordinate from the evaluation values. SOLUTION: A plurality of straight lines connecting detecting means 11 ... to a target area specified, the coordinate of the intersection or the vicinity thereof of the straight lines is operated by a position coordinate arithmetic means 2 to select target candidate coordinates. A target evaluation arithmetic means 3 operates evaluation values to the operated target candidate coordinates, and a position coordinate specifying means 4 selects and specifies the optimum coordinate as target coordinate from the evaluation values. The position coordinate arithmetic means 2 operates the center of gravity of a triangle formed by the straight lines to the target from each camera 11 ... to form the coordinate candidates of the target. The target evaluation arithmetic means 3 determines the area of the triangle, and the position coordinate specifying means 4 selects the optimum target candidate with the combination having a small area with the triangle area as the evaluation value. According to this, even if the number of detecting means is increased to provide a plurality of candidate coordinates, the optimum coordinate can be specified from the candidate coordinates and, thus, the optimum one can be selected even if the number of targets is increased.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a coordinate system used for an automatic tracking lighting device for automatically tracking and projecting performers in a specific space, for example, a banquet hall, a hall or a stage. It relates to a specific device.

[0002]

2. Description of the Related Art A plurality of imaging cameras are used as detecting means for detecting the direction of a target in a space, and the imaging directions of the imaging cameras are determined.
There is a method in which a straight line from an attachment coordinate such as an attachment coordinate to a target is defined, and an intersection or a vicinity thereof is obtained for a pair of straight lines of a plurality of imaging cameras. (JP-A-6-347219,
(See JP-A-8-32922)

[0003]

However, a target cannot be specified with a 100% probability by only one method, for example, image processing alone, and it is difficult to reliably recognize the target by all cameras alone. Often. For example,
There may be a case where a target is erroneously recognized due to noise or the like.
If the coordinates of the target are calculated based on the information, an accurate result cannot be naturally obtained. Also, if the threshold value is set strictly for the result after processing for simple noise countermeasures, there is a risk that the information from the imaging camera will lose the result indicating the true target direction. is there. Furthermore, when the number of imaging cameras increases, a plurality of intersections are obtained for one target, and there is a problem that it is necessary to obtain suitable coordinates from the intersections.

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and has as its object to provide a plurality of detecting means and a coordinate specifying device capable of specifying an optimum target coordinate even when a plurality of target candidate coordinates are provided. It is to provide a device.

[0005]

According to the first aspect of the present invention, there are provided a plurality of detecting means for detecting an attached state of the apparatus in a certain space and a direction from the position of the apparatus to a target whose position is to be specified. In a coordinate specifying device that calculates the coordinates of the target, the outputs of the plurality of detecting means and a plurality of straight lines connecting the target from the mounting coordinates of the detecting means are specified.
Or, position coordinate calculation means for calculating coordinates near the intersection, evaluation value calculation means for calculating an evaluation value representing the likelihood of the coordinates with respect to the target candidate coordinates calculated by the position coordinate calculation means, Position coordinate specifying means for selecting and specifying optimum coordinates as target coordinates from the evaluation values calculated by the evaluation value calculating means.

According to a second aspect of the present invention, in the first aspect of the present invention, an image pickup means installed so as to be able to photograph the space, and a target feature for an image acquired by the image pickup means are stored. Image recognition means for calculating a correlation value between an image and a feature of a target; mapping coordinate calculation means for mapping candidate coordinates of target coordinates calculated by the position coordinate calculation means on an imaging surface of the imaging means; Evaluation value calculation means for setting a correlation value calculated by the image recognition means with respect to the coordinates mapped on the surface as one of the evaluation values.

According to a third aspect of the present invention, in the second aspect of the present invention, the previously specified coordinates are stored, and the distance of the target coordinates calculated this time with respect to the coordinates with respect to the coordinates is evaluated as an evaluation item. An evaluation value calculation means having a function of calculating a value is provided. In the invention of claim 4,
In the invention according to claim 3, in order to calculate reference coordinates for obtaining an evaluation value, a coordinate obtained by adding an operation amount predicted from a past operation state to a previously specified coordinate stored is calculated. And a position coordinate predicting means.

According to a fifth aspect of the present invention, in any one of the first to fourth aspects of the present invention, the past specified coordinates are stored, a vector representing the past operation of the target is calculated from the coordinates, and the position calculation is performed. Means for calculating a vector representing the current operation of the target from the candidate coordinates of the current target calculated by the means and the stored past coordinates, and a vector of the current operation with respect to the calculated past operation vector. Evaluation value calculation means having a function of calculating an evaluation value using the amount of change as an evaluation item.

According to a sixth aspect of the present invention, in any one of the first to fourth aspects of the present invention, an evaluation value weighting means for weighting each of the evaluation values, and calculating an evaluation value for one coordinate from each weighted result. Evaluation value calculation means having a function of performing According to a seventh aspect of the present invention, in any one of the first to sixth aspects of the present invention, a straight line to a target whose position specified by one of the detecting means is to be specified, and a high-level target in which it is presumed that there is a target stored in advance. And a second position coordinate calculating means for calculating the position coordinates easily from the above.

According to an eighth aspect of the present invention, in accordance with any one of the third to seventh aspects of the present invention, the coordinates previously specified as the coordinates where the target exists are replaced with the previously stored height at which the target seems to exist. Has a function of storing the height coordinates as the height at which the target is assumed to be present. Therefore, according to the first aspect of the present invention, even if the number of detecting means increases and the number of target candidate coordinates becomes plural, it is possible to specify the optimum coordinates as the target coordinates.

According to the second aspect of the present invention, it is possible to specify the coordinates of the target candidate calculated based on the detection of the detecting means in consideration of the result of the image processing, thereby further improving the reliability. According to the third, fourth, and fifth aspects of the present invention, not only the static information of the first and second aspects but also dynamic information (coordinates specified in the past).
Can be used to increase the accuracy of specifying the target coordinates.

According to the sixth aspect of the present invention, the accuracy of specifying the coordinates of the target can be further improved by considering a plurality of evaluation methods in combination with the third, fourth and fifth aspects. According to the seventh and eighth aspects of the present invention, when sufficient information cannot be obtained for a single target by a plurality of detecting means due to a problem of an effective distance or occlusion, the direction of the target can be detected by only one detecting means. Can be obtained, the coordinates of the target can be calculated.

[0013]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below with reference to embodiments. (Embodiment 1) This embodiment corresponds to the first aspect of the present invention, and as shown in FIG. 1, in a certain space, its own mounting state and the direction from its own position to a target whose position is to be specified. a plurality of detection means 1 ₁ ... so as to detect, identify 1 ₁ ... and outputs of the plurality of detecting means, from the mounting coordinates, i.e. a plurality of straight lines connecting the sensing means 1 ₁ ... and the target,
Position coordinate calculating means 2 for calculating coordinates at or near the intersection of the straight line, and evaluation for calculating an evaluation value representing the likelihood of the coordinates with respect to the target candidate coordinates calculated by the position coordinate calculating means 2 Value calculating means 3; and position coordinate specifying means 4 for selecting and specifying optimum coordinates as target coordinates from the evaluation values calculated by the evaluation value calculating means 3.

Each of the calculating means 2 and 3 and the position coordinate specifying means 4
The description will be made assuming that the device is actually constituted by a computer, and that the device is used for specifying the coordinates of the irradiation target in an automatic tracking lighting device or the like. Detecting means 1 ₁ ... it is specifically C
It consists of CD cameras and the number is three or more.
The following detection means say 1 ₁ ... a a CCD camera 1 ₁ ....

These CCD cameras 1 ₁ ... Are installed so as to be able to photograph the irradiation space and not to be mounted in the same manner. Here, the mounting coordinates (Xci, Yci, Zci) and mounting directions (Pi, Ti) (P: pan, T: tilt) of the CCD camera 1i in FIGS. 2A and 2B are separately measured. The mounting coordinates and mounting directions of the CCD cameras 1 ₁ ... Are collectively stored as camera information in a storage unit (not shown). For example, CCD camera ₁₁
Are the same for lenses and the like (CCD image sensor size: 2S
W (width) × 2 SH (height) [mm], focal length of lens: f [mm], number of effective pixels in image recognition: 2, 2
DW (width) × 2DH (height)). In the coordinate system of the CCD cameras 1 _1, ..., The reference vector (direction cosine) is (X, Y, Z) = (0, 1, 0) as shown in FIG. If the pixel coordinates corresponding to the center of gravity and the like of the image of the irradiation target q extracted by pattern matching and other appropriate image processing methods are (Xdi, Ydi), as shown in FIG. Directional vector (Xe) from the center (0, 0) of the imaging device 10 to the irradiation target q.
i, Yei, Zei) can be obtained as follows.

Xei = Xdi × SW / (f × DW) Yei = 1 l Zei = Ydi × SH / (f × DH) The reference vector here is the coordinate system of the CCD camera 1 ₁ . It means that it rotates by the amount of the attached state (pan, tilt). Therefore, as shown in FIG.
Direction vector (li, mi, ni) from i to irradiation target q
Can be obtained as follows. However, the direction of pan and tilt is positive in the direction of FIG.

[0017]

(Equation 1)

Next, since it is apparent direction and the CCD camera 1 ₁ ... mounting coordinates to the irradiation target q from the CCD camera 1 ₁ ..., linear is obtained connecting the CCD camera 1 ₁ ... and the irradiation target q. Here, assuming that the parameter of the straight line is ti, a straight line Li connecting the CCD camera 1i and the irradiation target q can be obtained as follows. x = li × ti + Xci y = mi × ti + Yci (1) z = ni × ti + Zci In the present embodiment, an example of image processing using a CCD camera as the detection means has been described. A receiver or the like that can specify the direction of a transmitter that can be used can be used as the detecting means of the present invention as long as the direction vector (li, mi, ni) of equation (1) can be obtained.

Next, the operation of the position coordinate calculation means 2 will be described. First, FIG. 5 CCD camera ₁ 1 as shown in (a), 1
The equation of the straight line from ₂ to the target is as follows using equation (1). x = l1 × t1 + Xc1 y = m1 × t1 + Yc1 (2) z = n1 × t1 + Zc1 x = 12 × t2 + Xc2 y = m2 × t2 + Yc2 (3) z = n2 × t2 + Zc2 Here, equation (2) ) And (3) are represented by L
Assuming that the target is 1, L2, the target exists on the straight line L1 and on the straight line L2. Therefore, the intersection of the straight lines L1, L2 is the target coordinate to be obtained. However, due to the influence of the resolution of the direction specific to the CCD cameras 1 ₁ and 1 ₂ , there is no strict intersection, and the two straight lines L 1 and L 2 often interlink as shown in FIG. In general, a special relationship between two intersecting straight lines has an intersection. Therefore,
The straight line L where the two intersecting straight lines L1 and L2 are the shortest distance
1 , L2 The upper points are defined as V1 and V2 as shown in FIG. 5B in which the inside of the frame of FIG. 5A is enlarged, and these two points are obtained. This line segment V1-V2 is a straight line L1 , L2. From this, the following equation is obtained.

(Xv1−Xv2) · l1 + (Yv1−Yv2) · m1 + (Zv1−Zv2) · n1 = 0 (4) (Xv1−Xv2) · l2 + (Yv2−Yv1) · m2 + (Zv1) −Zv2) · n2 = 0 (5) Here, V1 (Xv1, Yv1, Zv1), V2 (Xv2, Yv)
2, Zv2).

Expressions (4) and (5) are replaced by Expressions (2) and (3).
Then, the following equation holds. Here E11 · t1 -E12 · t2 + F1 = 0 E12 · t1 -E22 · t2 + F2 = 0, E11 = l1 2 + m1 2 + n1 2 E12 = l1 · l2 + m1 · m2 + n1 · n2 E22 = I2 2 + m2 2 + n2 2 F1 = l1 (Xc1-Xc2) + m1 (Yc1-Yc2) +
n1. (Zc1-Zc2) F2 = l2. (Xc1-Xc2) + m2. (Yc1-Yc2) +
n1 · (Zc1−Zc2) From these equations, the parameters t1,
When t2 is obtained, it becomes as follows.

T1 = (E12 · F2−E22 · F1) / (E
11 · E22−E12 ² ) t2 = (E11 · F2 −E12 · F1) / (E11 · E22−E)
12 ² ) By substituting t1 and t2 obtained here into equations (2) and (3), V1 and V2 are obtained. Therefore, a point on this line segment V1 -V2, here, a point A12 in FIG. Identifying a straight line that L3 relative to yet a third CCD camera 1 _3. Therefore, as shown in FIG. 6, three lines L1-L2, L2-L3, and L3-L1 are specified.
The midpoints A12, A23, and A31 of the two line segments are calculated, and the center of gravity of the triangle formed by these three points is calculated. Coordinates of the center of gravity becomes a target of the candidate coordinates q123 identified by CCD camera ₁ 1, 1 _2, 1 _3.

Next, the operation of the evaluation value calculation means 3 will be described. In the evaluation value calculation means 3, as described above, the three straight lines L
An area S123 of a triangle composed of three points A12, A23, and A31 based on 1, L2, and L3 is calculated. This is 3
When the straight lines L1, L2, and L3 substantially intersect, S123 =
It becomes 0. If at least _{one of the three} CCD cameras 11 to ₁₃ has identified the direction of a target that has been erroneously recognized, S123> 0 depending on the pixel coordinates and the like that have been erroneously recognized. Therefore, detection means 1 consisting of four CCD cameras
Assuming _{that 1} to 1 ₄ are connected, in this case, coordinate candidate of the irradiation target q is Q123, Q124, Q134,
There are four combinations of q234 and four types of triangles, and therefore, the area of the triangle is also S123, S124, S
134 and S234 are calculated. That is, the area of these triangles is the evaluation value.

Next, the operation of the position coordinate specifying means 4 will be described. As described above, the position coordinate specifying means 4 examines a combination when the area S is small, using the area S of the triangle constituted by the three points of the three straight lines as the evaluation value. Here, among the four CCD camera detection means ₁ 1 to 1 _4, the CCD camera 1 when only the CCD camera 1 ₄ it is assumed that the erroneous recognition target
_The value S related to ₄ is large, that is, S123 <S12
4, S134, and S234, and the candidate coordinates q123 corresponding to S123 are specified as the coordinates of the irradiation target q.
Further, if an appropriate threshold value W is set in advance and the evaluation value S is compared with the threshold value W, the coordinates in the case where S> W are clearly determined as coordinates that cannot be target candidate coordinates. Can be removed. Here, the case where information from three CCD cameras is used to obtain an evaluation value has been briefly described. However, two straight lines are specified based on information from two CCD cameras, and The appropriate coordinates on the line segment of V1 and V2 are set as target candidate coordinates qj (Xqj, Yqj, Zqj), and the previous coordinates q ¹⁻ (Xq
¹⁻ , Yq ¹⁻ , Zq ¹⁻ ), the evaluation value Lj can be obtained as follows, assuming that the distance Lj is the evaluation value.

[0025]

(Equation 2)

In the same manner as described above, instead of the area S, the distance Lj may be evaluated by the position coordinate specifying means 4 and the calculation may be performed using qj in the case of the minimum Lj as the target coordinate. . (Embodiment 2) This embodiment corresponds to the invention of claim 2, and as shown in FIG. 7, an image pickup means 5 such as a CCD camera installed so as to be able to photograph the irradiation space.
An image recognizing unit 6 for storing a target feature with respect to the image captured by the image capturing unit 5 and calculating a correlation value between the image and the target feature; and a target coordinate calculated by the position coordinate calculating unit 2 And a mapping coordinate calculating means 7 for mapping the candidate coordinates on the imaging surface of the imaging means 5.
In this configuration, the correlation value calculated by the image recognizing means 5 with respect to the coordinates mapped on the imaging surface of the imaging means 5 can be used as one of the evaluation values in addition to the evaluation value described above.

More specifically, the operation of the image recognition means 6 is as follows. Here, general image processing will be described. FIG. 8 as a reference for obtaining a correlation value of image processing
The target template TMP (X, Y) as shown in FIG. However, 0 ≦ X ≦ −1 and 0 ≦ Y ≦ −1. In the area of the template TMP (X, Y), the whole body of the target person is shown in the figure, but the body part may be raised.

Next, as for the search for the target in the input image, as shown in FIG.
Y), and the center coordinates (CX, CX) of the search in the input image
Y), search range (± SX, ± SY), input image IMG
(X, Y) <where 0 ≦ X ≦ IX-1, 0 ≦ Y ≦ IY−
1>, the stored template TMP ()
Correlation value Cor (Xcor, Y) of the image IMG () input as
cor) can be obtained by the following equation. In FIG. 8 (b), a portion between the broken lines indicates a comparison area of a single portion with the template on the screen.

[0029]

(Equation 3)

Here, -SX≤Xcor≤SX, -SY≤
It is assumed that Ycor ≦ SY. As a result, Cor (Xcor, Ycor
) Is obtained as an array having a size of (2SX, 2SY). Next, the mapping coordinate calculating means 6 calculates the irradiation target candidate coordinates q calculated by the position coordinate calculating means 2 as in the first embodiment.
The image pickup means 5 calculates the coordinates on the screen at which the j is photographed. Imaging means 5 under the same conditions as the CCD camera 1 ₁ ... group used as the detecting means, the coordinates (XJ, Y
J, ZJ), and set in the shooting direction (PJ, TJ) (see FIGS. 9, 10 (a) and 10 (b)). In FIG. 9, P is pan, T is chill, and the arrow direction is positive. Indicates the direction (si
n (P) × cos (T), cos (P) × cos
(T), -sin (P)) indicate a direction vector representing a shooting direction).

Now, when the direction cosine (lj, mj, nj) from the image pickup means 5 to the candidate coordinates qj is obtained, the following is obtained. lj = (Xqj-XJ) / Ljmj = (Yqj-YJ) / Ljnj = (Zqj-ZJ) / Lj where Lj is as follows.

[0032]

(Equation 4)

The angle (pj, tj) of the deviation of the direction cosine from the photographing direction of the imaging means 5 can be obtained as follows. pj = tan ^-1 (lj / mj) -PJ tj = sin ^-1 (nj) -TJ The coordinates are mapped to the coordinates (Xdj, Ydj) on the screen of the imaging means 5 as follows.

Xdj = tan (pj) × (f · DW) / SW Ydj = tan (tj) × (f · DH) / SH Here, the correlation value Cor (X) calculated by the image processing means 6 previously.
dj, Ydj). This value of Cor (Xdj, Ydj) is evaluated by the evaluation value calculation means 3 for all candidate coordinates,
Specify qj at which Cor (Xdj, Ydj) is minimized as the target coordinates.

The evaluation value H is calculated using Lj obtained as described above.
Find j1. Hj1 = B1 × (Lj−C1) [where Lj <C1] = 0 [where Lj ≧ C1] The parameters B1 and C1 need to be appropriately determined depending on the system. However, a light-dark value or a hue value is used as an input pixel value of the image processing here.

The operation and configuration of each part other than the above description is the same as that of the first embodiment, and therefore will not be described here. (Embodiment 3) This embodiment corresponds to the invention of claim 3, and the overall configuration is the same as that of embodiment 2 as shown in FIG. The processing was as follows.

That is, in the present embodiment, as shown in the conceptual diagram of FIG. 11B, the coordinates of the target q ¹⁻ (Xq ¹⁻ , Yq ¹⁻ , Zq ¹⁻ ) previously specified by the position coordinate specifying means 4. Is stored in a storage unit in the evaluation value calculating means 3 and the coordinates of the previous target are compared with the candidate candidate coordinates qj (Xqj, Yqj, Zqj) of the target obtained by the position coordinate calculating means 2 this time.
The distance Lj from q ^1- is obtained as follows.

[0038]

(Equation 5)

The evaluation value Hj2 is obtained using this Lj. Hj2 = B2 × (Lj−C2) [where Lj <C2] = 0 [where Lj ≧ C2] The parameters B2 and C2 need to be appropriately determined by the system, but in this case, the position coordinates Among the evaluation values Hj2 calculated for the target candidate coordinates qj calculated by the calculation means 2, the largest value is searched by the evaluation value calculation means 3, and qj corresponding to the evaluation value Hj2 is the position coordinate identification. The result of specifying the target coordinates in the means 4 is obtained.

(Embodiment 4) This embodiment is Embodiment 3
As shown in FIG. 13, a position coordinate predicting means 7 is added to the configuration of the second embodiment. The position coordinate predicting means 7 stores the target coordinates, q ¹⁻ and q ²⁻ specified two times before and two times before. In addition, the reference coordinates qb (Xqb, Yq
b, Zqb).

Qb = 2 · q ¹ −−q ²⁻

[0042]

(Equation 6)

The evaluation value Hj3 is obtained using this Lj. Hj3 = B3.times. (Lj-C3) [where Lj <C3] = 0 [where Lj.gtoreq.C3] The parameters B3 and C3 need to be appropriately determined depending on the system. Subsequent processing is performed in the third embodiment.
Therefore, the description of the configuration and operation is omitted.

(Embodiment 5) In this embodiment, a vector operation means 8 is added to the structure of the embodiment 4 as shown in FIG. , ..., the target coordinates q ^1- , q ^2- ,
Are stored, and the vector operation means 8 obtains the vectors A1, A2,... Of the last time, two times before, and so on of the target operation from the specific coordinates in the past as follows.

A1 = q ¹ −−q ² −A 2 = q ² −−q ³ −A 3 = q ^{(n) −} −q ⁽ⁿ⁻¹⁾ —Simultaneous target candidate coordinates calculated by the position coordinate calculation means 2 Vector A evaluated by qj and coordinates q ^(m) -specified in the past
Calculate j.

Aj = qj-q ^(m) -where the relationship between Aj and An is calculated. The angle between the two vectors is defined as θjn. Angle θ formed by this vector
Can be calculated as follows. θj n = cos ^-1 (Aj · A
n / (| Aj || An |)) The evaluation value Hj4 is obtained using the θjn.

Hj4 = B4 × (θjn-C4) [where θjn <C4] = 0 [where θjn ≧ C4] The parameters B4 and C4 need to be appropriately determined depending on the system. Thereafter, the same processing as described above is performed by the position coordinate specifying means 4. The vector also has magnitude information.

For example, | Aj |> | An |: When accelerating, the angle θjn is not so much as 45 ° or more. | AJ | <| An |: When the vehicle is decelerating, there are few restrictions on the angle θjn (any value can be taken). Increases reliability.

The operation and configuration of each part other than the above description is the same as that of the fourth embodiment, and therefore will not be described here. (Embodiment 6) In this embodiment, an evaluation value weighting means 30 is added to the evaluation value calculation means 3 in the configuration of Embodiment 5 as shown in FIG.

That is, in the above description, in the evaluation value calculation formula, the one with the highest evaluation, that is, the one with the highest probability and the one with the higher the larger the better, are described in a mixed manner. Unify that the larger the evaluation value, the more likely it is. For example, although it has been assumed that the area Sj of the triangle is more likely to be closer to 0, it can be converted as Hj = B × (Sj−C) [where Sj <C] = 0 [where Sj ≧ C]. In this way, all the above-mentioned evaluation values H1 to H4 are calculated and integrated, and are calculated as the following overall evaluation value Hja.

Hja = D1 × Hj1 + D2 × Hj2 + D3 × H
j3 + D4 × Hj4 Here, the parameters D1 to D4 need to be appropriately set so as to be optimal for the system. The evaluation value calculation means 3 performs such calculation. Thereafter, as described above, the coordinate specifying means 4 searches for target candidate coordinates having a large evaluation value, and specifies the coordinates having the maximum evaluation value as target coordinates.

The operation and configuration of each part other than the above description is the same as that of the fifth embodiment, and will not be described here. (Embodiment 7) This embodiment corresponds to the seventh aspect of the present invention, in which a second position coordinate calculating means 20 is provided in addition to the position coordinate calculating means 2 as shown in FIG.
As shown in (1), the height Zh at which the target is considered to exist is stored in advance, and the following calculation is performed by the second position coordinate calculation means 2 '. Here, z = Zh in the above-described equation (1) which is the equation of the straight line Li to the target by the CCD camera 1i.
Is substituted and the target candidate coordinates qi (Xqi, Y
qi, Zqi) can be calculated as follows.

Xqi = li × (Zh−Zci) / ni + Xci Yqi = mi × (Zh−Zci) / ni + Yci Zqi = Zh For example, by treating the target candidate coordinates qi in the same manner as the above-described candidate coordinates, , hiding goals, the distance is not able to detect a plurality of CCD cameras 1 ₁ ... targets at or leave some in the simple also can be computed candidate coordinates.

The operation and configuration of each part other than the above description is the same as that of the sixth embodiment, and will not be described here. As described above, not only the coordinates set in advance for Zh but also the coordinates calculated by substituting the z coordinates of the previously specified target coordinates are set as target candidate coordinates in the same manner as in the seventh embodiment. (Corresponding to the invention of claim 8).
The configuration of this embodiment is the same as that of FIG. )

[0055]

According to the first aspect of the present invention, there are provided a plurality of detecting means for detecting the mounting state of the vehicle and the direction from the position of the vehicle to a target whose position is to be specified, as described above.
In a coordinate specifying device for calculating coordinates of a target, a plurality of straight lines connecting a target are specified from outputs of the plurality of detecting means and mounting coordinates of the detecting means, and an intersection of the straight lines or a coordinate near the intersection is calculated. Position coordinate calculation means, evaluation value calculation means for calculating an evaluation value representing the likelihood of the target candidate coordinates calculated by the position coordinate calculation means, and a result calculated by the evaluation value calculation means And position coordinate specifying means for selecting and specifying optimum coordinates as target coordinates from the evaluation value of the target, so that the number of detecting means is increased, and even when there are a plurality of candidate coordinates for the same target, One optimal coordinate can be specified from the coordinates, and even if an output including noise or the like is received from the detection means, the target coordinates from which noise has been removed can be specified by the calculation means. Order to be able to identify a plurality of straight lines with respect to the detection means one even when the number is increased in an effect that can identify the optimum for a plurality of targets.

Since the inventions of claims 2 to 6 are configured as described above, the evaluation value can be calculated in consideration of various target states as information when obtaining the evaluation value. There is an effect that coordinates with higher reliability can be specified from the candidate coordinates. In particular, the invention according to claim 6 includes evaluation value weighting means for weighting the evaluation values, and evaluation value calculating means having a function of calculating an evaluation value for one coordinate from each weighted result. By considering the evaluation value calculation method suitable for the system in combination, there is an effect that the accuracy of specifying the target coordinates can be further increased.

According to the seventh and eighth aspects of the present invention, even if the target cannot be detected by a plurality of detection means because the target is hidden or the distance of the target is large, the detection of the plurality of detection means is not required. There is an effect that candidate coordinates can be calculated if at least one of them can be detected.

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram of Embodiment 1 of the present invention.

FIG. 2 (a) is an explanatory diagram of a relation between the detecting means and a target as viewed from above. FIG. 3B is an explanatory diagram showing the relationship between the detection means and the target as viewed from the side.

FIG. 3 is an explanatory diagram showing a relationship between an image pickup device and a target in a coordinate system of the detection means.

FIG. 4 is an explanatory diagram showing a relationship between the detection means and a target.

FIG. 5A is an explanatory diagram showing a relationship between an imaging direction (irradiation direction) of the detecting means and a target. (B) is an enlarged view showing the relationship between the imaging direction (irradiation direction) of the detection means and the target.

FIG. 6 is an explanatory diagram of an evaluation value of a specific coordinate of a target according to the embodiment.

FIG. 7 is a schematic configuration diagram of Embodiment 2 of the present invention.

FIG. 8A is an explanatory diagram of a template of an image processing example according to the embodiment. FIG. 3B is an explanatory diagram showing a relationship between a template and a screen of the image processing example in the embodiment.

FIG. 9 is an explanatory diagram of a definition of an attached state of the image pickup means in the embodiment.

FIG. 10 (a) is an explanatory diagram of the relation between the imaging means and the target as viewed from above. FIG. 3B is an explanatory diagram illustrating a relationship between the imaging unit and the target as viewed from the side.

FIG. 11A is a schematic configuration diagram of Embodiment 3 of the present invention. (B) is a conceptual block diagram of an evaluation value calculating means of the above.

FIG. 12 is a schematic configuration diagram of Embodiment 4 of the present invention.

FIG. 13 is a schematic configuration diagram of Embodiment 5 of the present invention.

FIG. 14 is a schematic configuration diagram of Embodiment 6 of the present invention.

FIG. 15 is a schematic configuration diagram of Embodiment 7 of the present invention.

FIG. 16 is an explanatory diagram of a calculation by a second position coordinate calculation means according to the embodiment;

[Explanation of symbols]

DESCRIPTION OF SYMBOLS ₁ 1-1i Detecting means 2 Position calculating means 3 Evaluation value calculating means 4 Position coordinate specifying means

Continued on the front page (72) Inventor Eiichi Fukui 1048 Kazuma Kadoma, Kadoma City, Osaka Prefecture Matsushita Electric Works, Ltd.

Claims (8)

[Claims] 1. A coordinate specifying device for calculating a target coordinate, comprising a plurality of detecting means for detecting a mounting state of the device in a certain space and a direction from the position of the device to a target whose position is to be specified. Position coordinate calculating means for specifying a plurality of straight lines connecting a target from outputs of the plurality of detecting means and mounting coordinates of the detecting means, and calculating coordinates of intersections of the straight lines or coordinates near the intersections; and Evaluation value calculating means for calculating an evaluation value representing the likelihood of the coordinates with respect to the target candidate coordinates calculated by the means; and an optimum value as a target coordinate from the evaluation value of the result calculated by the evaluation value calculating means. And a position coordinate specifying means for selecting and specifying coordinates. 2. An image pickup device installed so as to be able to take an image of the space, a target feature stored in an image acquired by the image pickup device, and a correlation value between the image and the target feature is calculated. Image recognition means, mapping coordinate calculation means for mapping the candidate coordinates of the target coordinates calculated by the position coordinate calculation means on the imaging surface of the imaging means, and the image recognition means for the coordinates mapped on the imaging surface 2. The coordinate specifying device according to claim 1, further comprising: an evaluation value calculation unit configured to set the calculated correlation value as one of the evaluation values. 3. An evaluation value calculating means having a function of storing coordinates specified last time and calculating an evaluation value using a distance of a target coordinate calculated this time with respect to the coordinates with respect to the coordinates as an evaluation item. The coordinate specifying device according to claim 2, further comprising: 4. A position for calculating coordinates obtained by adding an operation amount predicted from a past operation state to previously stored coordinates stored in order to calculate reference coordinates for obtaining an evaluation value. 4. The coordinate specifying device according to claim 3, further comprising a coordinate predicting unit. 5. A coordinate system which stores past specified coordinates, calculates a vector representing the past operation of the target from the coordinates, and stores the candidate coordinates of the current target calculated by the position calculating means and the stored past coordinates. Vector calculation means for calculating a vector representing the target current operation from the coordinates, and an evaluation value calculation having a function of calculating an evaluation value using the amount of change of the current operation vector with respect to the calculated past operation vector as an evaluation item 5. The method according to claim 1, further comprising:
The coordinate specifying device according to any one of the above. 6. An evaluation value weighting means for weighting each evaluation value, and an evaluation value calculation means having a function of calculating an evaluation value for one coordinate from each weighted result. The coordinate specifying device according to claim 1. 7. A second position for simply calculating a position coordinate from a straight line to a target whose position specified by one of said detecting means is to be specified and a height in which a pre-stored target is considered to exist. 7. The coordinate specifying device according to claim 3, further comprising a coordinate calculation unit. 8. Instead of the previously stored height at which the target is assumed to exist, the height coordinate of the coordinates previously specified as the coordinates at which the target is present is set as the height at which the current target is assumed to be present. The coordinate specifying device according to claim 3, further comprising a storage function.