KR102349837B1 - Method and apparatus for displaying real location information in image captured by camera - Google Patents

Abstract

According to an embodiment of the present invention, disclosed is a method for displaying real location information in an image captured by a camera. The method comprises: a step of acquiring a plurality of parameters related to the camera, wherein the plurality of parameters include a height parameter related to the height of the camera and an angle parameter related to a vertical-directional angle of the camera; a step of making a pixel of the captured image correspond to a coordinate on a world coordinate system by using the plurality of parameters; and a step of mapping and displaying real location information based on the world coordinate system on the captured image based on the corresponding relation. The present invention aims to provide a method and apparatus for displaying real location information in an image captured by a camera, which are capable of making it possible to perform an effective control.

Description

A method and device for displaying actual location information on a camera shot image

The present invention relates to a method of location information in an image, and more particularly, to a method of displaying real location information based on coordinates of a world coordinate system in an image by analyzing parameters associated with a camera.

With the increasing number of violent crimes, people's demands for safety are increasing. Recent crimes have become more intelligent and diverse in their methods, and more intelligent and systematic security solutions are needed due to the unpredictable characteristics of any time and place. Accordingly, a large-scale comprehensive monitoring system that monitors a large area in real time with multiple monitoring devices and can respond to events that may occur in multiple areas by identifying correlations is in the limelight as a means to effectively suppress these threats. The demand and installation cases are increasing in residential complexes and local governments.

The installed comprehensive monitoring system is diverse in scale, such as integrating and operating at least tens to as many as thousands of surveillance cameras. do.

However, even if important evidence is captured in the video captured by the surveillance system, the evidence is not linked with actual location information, making effective control difficult. This is especially true in situations where actual location is very important in relation to a particular incident, such as a construction site or a crime scene. Nevertheless, there is no device or system that displays the position of the camera or the position on the real world coordinate system in the image, so there is a problem in reducing control and evidence collection efficiency.

An object of the present invention for solving the above problems is to provide a method of displaying actual position information based on a World Coordinate System (WCS) calculated based on a camera position in an image captured by a camera. will do

According to an aspect of the present invention for achieving the above object, a method of displaying actual location information on an image captured by a camera includes the steps of obtaining a plurality of parameters associated with a camera (the plurality of parameters) includes a height parameter associated with the height of the camera and an angle parameter associated with a vertical angle of the camera), using the plurality of parameters to associate a pixel of the captured image with coordinates on a world coordinate system and mapping and displaying actual location information based on the world coordinate system on the captured image based on the step and the correspondence relationship.

The plurality of parameters may further include at least one of (i) in addition to the height parameter, (ii) an angle parameter for at least one of a horizontal direction and a vertical direction of the camera, and (iii) a focal length parameter of the camera. can

The step of mapping and displaying the actual location information on the captured image includes generating a grid shape based on the actual location information and displaying the generated grid shape by overlaying the captured image on the captured image. can do.

The grid shape may include at least one polygonal grid having a predetermined area in the world coordinate system.

The method may further include extracting the plane area from the captured image, wherein the grid shape may be overlaid on the captured image based on the planar area.

The polygonal grid may include a square grid having the same horizontal and vertical lengths.

The step of matching is the cosine (cosine ( cosine) and a sine function, and matching the x-coordinate (x') and y-coordinate (y') of the pixel of the captured image.

를 이용하여 상기 촬영 영상의 픽셀의 x 좌표(x')와 y 좌표(y')를 산출하되, 여기서, x는 월드 좌표계 상에서 상기 카메라로부터의 x 방향 거리를 나타내는 좌표, y는 월드 좌표계의 상기 카메라로부터의 y 방향 거리를 나타내는 좌표, z는 상기 카메라 설치 높이를 나타내며, x'는 상기 촬영 영상의 픽셀의 x 좌표, y'는 상기 촬영 영상의 픽셀의 y 좌표, z'는 카메라 초점 거리와 픽셀 비의 곱, θ₀는 상기 카메라의 수직 방향 기울기를 나타낼 수 있다.

Calculate the x-coordinate (x') and y-coordinate (y') of the pixel of the captured image using Coordinates indicating the distance in the y direction from the camera, z indicates the installation height of the camera, x' is the x coordinate of the pixel of the photographed image, y' is the y coordinate of the pixel of the photographed image, z' is the camera focal length and A product of the pixel ratio, θ ₀ , may represent a vertical inclination of the camera.

When the plurality of parameters includes a parameter related to zoom, the x-coordinate (x') and y-coordinate of the pixel of the captured image by multiplying the zoom parameter by the product of the camera focal length and the pixel ratio (y') can be calculated.

In the matching step, when the horizontal angle parameter (φ ₀ ) exists, the horizontal direction angle parameter (φ ₀ ) and the vertical direction angle parameter (θ ₀ ) are replaced by rotational transformation based on the Thus, by rotationally transforming the camera coordinate system and the world coordinate system, respectively, it may include the step of matching the pixels of the captured image.

를 이용하여 상기 수평 방향의 각도 파라미터(φ₀)와 상기 수직 방향의 각도 파라미터(θ₀)를 기반으로, 회전 변환(θ_rot)으로 치환할 수 있다.

can be replaced with rotation transformation (θ _rot ) based on the horizontal angle parameter (φ ₀ ) and the vertical direction angle parameter (θ _{0 ) by using .}

_{After the rotation transformation, based on the angular parameters (φ 0} , θ ₀ ) in the horizontal and vertical directions of the camera, using tangent, cotangent and arctangent functions, one reset By converting to an angle parameter of , it is possible to correspond to the pixels of the photographed image.

를 이용하여 상기 재설정된 하나의 각도 파라미터로 환산하되, 여기서, θ_new는 상기 재설정된 하나의 각도 파라미터일 수 있다.

It is converted into the one reset angle parameter using , where θ _new may be the reset one angle parameter.

The method may further include receiving a selection for a specific pixel in the captured image from a user terminal, and providing a user interface displaying actual location information of the selected pixel.

According to another aspect of the present invention for achieving the above object, an apparatus for displaying actual location information on an image captured by a camera is a camera information input unit (the plurality of parameters) for obtaining a plurality of parameters associated with the camera. parameters of the photographed image using a height parameter associated with the height of the camera and an angle parameter associated with a vertical angle of the camera), an image input unit receiving an image photographed from the camera, and the plurality of parameters and a coordinate mapping unit corresponding to coordinates on a world coordinate system, wherein actual location information based on the world coordinate system based on the correspondence relationship may be mapped to and displayed on the captured image.

According to the method of displaying location information on a camera captured image of the present invention, there is an effect of enabling effective control by overlaying and displaying the actual location information (real coordinates) on the captured image of the control camera at a construction site, etc.

1 is a conceptual diagram for explaining an environment in which a method of displaying actual location information on a camera-captured image according to an embodiment of the present invention is applied;
2 is a conceptual diagram for explaining the display of actual location information in a lattice form in an image taken by a camera according to an embodiment of the present invention;
3 is a block diagram schematically showing the configuration of an apparatus for displaying actual location information on a camera captured image according to an embodiment of the present invention;
4 is a conceptual diagram for explaining a method of calculating actual position information of a world coordinate system using camera-related parameters according to the first and second embodiments of the present invention;
5 is a view showing a state of a grid layer generated according to a method of displaying actual location information on a camera-captured image according to an embodiment of the present invention;
6 is a view showing a state in which the grid layer of FIG. 5 is overlaid on an actual captured image;
7 is a view showing the appearance of the grid layer changed according to the zoom parameter change;
8A and 8B are diagrams showing test results indicating that the grid inserted in the captured image and the grid installed on the floor of the actual filming site match even when the photographing angle is changed;
9A is a view showing the configuration of a user interface for checking actual location information by selecting a grid on a captured image displayed by a method of displaying actual location information on a camera captured image according to an embodiment of the present invention;
FIG. 9B is a diagram for explaining a method of checking distances between different grids using the user interface of FIG. 9A .

Since the present invention can have various changes and can have various embodiments, specific embodiments are illustrated in the drawings and described in detail.

However, this is not intended to limit the present invention to specific embodiments, and it should be understood to include all modifications, equivalents and substitutes included in the spirit and scope of the present invention.

Terms such as first, second, etc. may be used to describe various elements, but the elements should not be limited by the terms. The above terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, a first component may be referred to as a second component, and similarly, a second component may also be referred to as a first component. and/or includes a combination of a plurality of related listed items or any of a plurality of related listed items.

When a component is referred to as being “connected” or “connected” to another component, it may be directly connected or connected to the other component, but it is understood that other components may exist in between. it should be On the other hand, when it is mentioned that a certain element is "directly connected" or "directly connected" to another element, it should be understood that no other element is present in the middle.

The terms used in the present application are only used to describe specific embodiments, and are not intended to limit the present invention. The singular expression includes the plural expression unless the context clearly dictates otherwise. In the present application, terms such as “comprise” or “have” are intended to designate that a feature, number, step, operation, component, part, or combination thereof described in the specification exists, but one or more other features It should be understood that this does not preclude the existence or addition of numbers, steps, operations, components, parts, or combinations thereof.

Unless defined otherwise, all terms used herein, including technical and scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in a commonly used dictionary should be interpreted as having a meaning consistent with the meaning in the context of the related art, and should not be interpreted in an ideal or excessively formal meaning unless explicitly defined in the present application. does not

Hereinafter, preferred embodiments of the present invention will be described in more detail with reference to the accompanying drawings. In describing the present invention, in order to facilitate the overall understanding, the same reference numerals are used for the same components in the drawings, and duplicate descriptions of the same components are omitted.

1 is a conceptual diagram illustrating an environment in which a method of displaying actual location information on a camera-captured image according to an embodiment of the present invention is applied.

Referring to FIG. 1 , when the camera 110 plays a monitoring or control role, the camera 110 is installed in a fixed position with a predetermined height to photograph the photographing area 120 located within a predetermined radius. However, if the location information is not displayed in the image, even if the subject 130 that provides an important clue is photographed through the camera 110, the photographing area 120 itself actually exists at a certain location, and the subject ( 130), there is a difficulty in control and security management because it is not possible to know where it is located.

According to an embodiment of the present invention, based on camera-related parameters such as the position and inclination of the camera 110, actual position information is calculated and displayed together in the captured image, so that more effective control is achieved. Here, the actual location information may be a location associated with real coordinates, or a location based on coordinates associated with a World Coordinate System (WCS). This is basically calculated as a relative real distance from the camera 110 . That is, if x=-2, y=1, it points to a position that is 1 meter in front of the camera and 2 meters to the left.

If the absolute position of the camera 110, that is, the latitude and longitude position on the geographic information system (GIS), is known, the photographing area ( 120) from the camera 110 can be calculated, and by summing the calculated position with the absolute camera position 110, eventually, the absolute position of the photographing area 120 can also be calculated. .

On the other hand, the camera-related parameters basically include parameters such as the height (h) of the camera from the ground (in the case of an indoor, the ground may point to the floor of the corresponding floor), and the inclination angle (θ). can Through these parameters, the position (relative position from the camera) of the shooting area 120 on the world coordinate system can be calculated, and further, the position of the subject 130 can be precisely specified with a relative distance in the captured image. have.

According to an embodiment of the present invention, as described above, the device for displaying the actual location on the world coordinate system in the captured image may be a device that interworks with the camera 110 . This may be implemented as a computing device connected to the camera 110 through a wired or wireless network. A computing device includes a cellular phone, a smart phone, a personal digital assistant (PDA), a personal computer (PC), a portable computer (laptop), a photographing device such as a digital camera having a communication function, a gaming device having a communication function, and a communication function. The branch may include, but is not limited to, music storage and playback appliances, Internet appliances capable of Internet access and browsing, as well as portable units or terminals incorporating combinations of such functions. The apparatus preferably includes a display means for displaying the captured image.

According to another embodiment of the present invention, the device may be implemented as a smart phone carried by the user, and in this case, GPS information indicating absolute location information of the smart phone may be utilized as a camera-related parameter. In addition, the height information may be calculated as the height of a normal person carrying a smartphone, and the inclination information (angle information) may be acquired through a gyro sensor provided in the smartphone. Through this, both the up and down and/or left and right inclinations may be known. Then, an application that displays actual location information on the world coordinate system in the captured image (application: hereinafter referred to as “app”) is installed in a user terminal such as a smart phone, and the location information calculated as above is taken through the app By overlaying on the image, it can be displayed.

FIG. 2 is a conceptual diagram for explaining displaying of actual location information in a grid form in an image captured by a camera according to an embodiment of the present invention. Referring to FIG.

Referring to FIG. 2 , location information in a captured image may be expressed in various forms. First, a grid corresponding to a certain area in the world coordinate system (WCS) may be created and displayed by overlaying it in a captured image. That is, one grid may have a size of 1M horizontally and 1M vertically, and may be displayed to be arranged in the captured image. In this case, the lattice does not necessarily have to have a rectangular shape, nor does it necessarily have to be a square shape. It may be expressed in the form of arranging a polygonal grid with a width of 5M and a length of 10M. It is desirable to select and display a grid shape of an appropriate size in proportion to the area (aspect ratio) of the captured image. If the captured image captures an area of the world coordinate system of 100M X 100M as a whole, 1M X 1M is appropriate for one grid, but if an area of 1000M X 100M is photographed, it is desirable to set one grid to 10M X 1M can This may be selected through user settings or may be automatically selected by inputting a proportional relationship. In addition, one grid may individually correspond to coordinates of at least one world coordinate system. That is, the first grid corresponds to the x-coordinate 100 and the y-coordinate 100, and the second grid adjacent thereto corresponds to the x-coordinate 101 and the y-coordinate 100. Individually, the grid includes at least one world coordinate system location information. may have

Although the embodiment of FIG. 2 discloses an embodiment in which actual position information is displayed in a grid shape in a captured image, in another example, the device may display the actual position information by marking dots. That is, it can be implemented in a form in which a plurality of points are displayed at regular intervals in a captured image by taking a point for each unit of a certain distance in the world coordinate system. Alternatively, the location information may be expressed by drawing a line. Grids, dots, lines, etc. may be expressed in a form that is overlaid on the captured image, and may have appropriate transparency. That is, it is possible to control to have a corresponding transparency according to the color, brightness, and/or sharpness of the captured image.

On the other hand, it is preferable that the actual location information corresponds to a planar area of the photographing area. That is, if a plurality of subjects exist on a plane area of the photographing area, it is preferable to display a position corresponding to the plane of the subject as the position of the subject. Therefore, if the subject exists in a non-planar part (in the air), the device may calculate the position information by correcting the position information so that the position when it corresponds to the planar area can be displayed in consideration of the vertical height of the subject. have.

3 is a block diagram schematically showing the configuration of an apparatus for displaying location information on a camera-captured image according to an embodiment of the present invention. As shown in FIG. 3 , the apparatus according to an embodiment of the present invention includes a camera information input unit 310 , an image input unit 320 , a coordinate mapping unit 330 , a grid layer generating unit 340 , and a synthesizing unit ( 350) may be included. The above components may be implemented with an input port and a hardware processor. Meanwhile, in addition to the above components, it may further include an input/output device (user interface) and/or a display means separately.

Referring to FIG. 3 , the camera information input unit 310 receives various parameters related to a camera. The camera-related parameter may include at least one of a height, a vertical inclination (inclination to the ground), a horizontal inclination, and a focal length parameter of the camera. In particular, the height and the vertical direction may be basically required, and it is preferable that at least one of the remaining parameters is further input. The parameter may be input directly by the user or may be received from another device. In particular, it is possible to receive PTZ (Pan Tilt Zoom) information of a camera and use it as a camera parameter. Moreover, if the absolute position information of the camera is known, the absolute position of a specific shooting area can be calculated by adding the relative position calculated through the above mapping relationship. In the case of a smartphone, the absolute position information of the camera is obtained from the GPS module, and/or the angle information may be obtained from the gyro sensor.

The image input unit 320 receives an image captured by the camera.

The coordinate mapping unit 330 calculates and maps the positions (relative positions from the camera) of each pixel in the captured image on the world coordinate system based on the camera-related parameters input from the camera information input unit 310 . In this case, it is possible to control more accurate mapping by utilizing logic for extracting a plane part from the captured image. That is, the actual position of the plane portion as the center corresponds to the pixel in the captured image. In addition, the non-planar part may be relatively mapped using the position of the planar part, or the position of the subject may be mapped based on a water line drawn from the subject not in contact with the plane to the ground.

Coordinate mapping is largely divided into (i) the process of mapping the relative position from the camera to the pixels of the captured image through camera-related parameters, and (ii) calculating the final absolute position of individual pixels by substituting the mapping relationship into the absolute position of the camera. process may include.

The grid layer generator 340 generates a grid shape based on the calculated position information. The grid layer consists of a set of polygons having a certain area in the world coordinate system. A grid is created based on the mapped location information. In the case of a square grid, a first mapping point is generated from the center of a captured image, and a second mapping point, a third mapping point, and a fourth mapping point corresponding to the grid size are generated therefrom, and these four points One grid can be formed through the four lines connecting them. In addition, these lattices may be aggregated to form the entire lattice layer.

The synthesizer 350 overlays the grid layer generated by the grid layer generator 340 on the captured image to generate a final output image. As described above, in this case, appropriate transparency may be applied to the grid layer. The generated final image may be transmitted to a display means (not shown).

4 is a conceptual diagram for explaining a method of calculating location information of a world coordinate system using camera-related parameters according to the first and second embodiments of the present invention.

Referring to FIG. 4 , the coordinate mapping unit of FIG. 3 maps pixels and coordinates through a relational expression between pixels of a captured image and coordinates on a world coordinate system. At this time, when the camera is tilted only forward and backward without left and right tilt, that is, when there is no horizontal tilt of the camera (with a preset horizontal tilt of 0˚), the pixel coordinates are converted to real coordinates (world coordinates in the coordinate system). In this case, camera-related parameters may require only a position parameter, a height parameter, a focal length, and a vertical inclination.

where x is the x coordinate of the world coordinate system (in the x direction, relative real distance from the camera), y is the y coordinate of the world coordinate system (in the y direction, the relative real distance from the camera), z is the camera installation height, x' is the x-coordinate of the pixel of the captured image, y' is the y-coordinate of the pixel of the captured image, z' is the product of the camera focal length and the pixel ratio, and θ ₀ is the vertical inclination of the camera.

The device may map the coordinates of the world coordinate system and the coordinates (x', y') of the pixels in the captured image from the camera-related parameters through Equation 1 .

In another example, when there is a horizontal tilt of the camera, the device replaces the vertical and horizontal tilts with rotational transformations in the absence of left and right tilt to calculate the reset angle, thereby converting the pixel coordinates to the coordinates in the real world coordinate system. can correspond to At this time, the rotation conversion angle is calculated using the following equation.

Here, θ _rot represents a rotation conversion angle, and φ ₀ represents an angle parameter in the horizontal direction of the camera.

Looking at this in more detail, the case where there is a horizontal gradient is processed by substituting a rotation transformation in the case where there is no horizontal gradient. That is, when the camera lens coordinate system and the world coordinate system are each rotated by a specific angle, the left and right inclination becomes 0, so that Equation 1 can be used.

In this case, the rotation transformation angle of the camera coordinate system is the same as in Equation 2 above.

In addition, the rotation transformation angle of the world coordinate system is calculated as follows.

And, after rotation transformation, the angle the camera makes with the ground _{is considered as a reset one angle parameter called θ new} instead of two _{angles of θ 0} and φ ₀ , and by substituting into Equation 1, the pixel coordinates on the world coordinate system It can be mapped to coordinates. In this case, θ _new is calculated using the following equation.

When φ ₀ is 0, θ _new has the same value as _{θ 0 .}

Using the values obtained above, the coordinates of each pixel in the captured image can be obtained by the following procedure.

The camera coordinate system (pixel coordinates of the captured image) and the world coordinate system are respectively rotated as follows (refer to Equations 2 and 3).

There is no left-right inclination between the rotationally transformed coordinate systems. Therefore, the variables can be substituted into Equation 1 in the case where there is only an up and down slope. Substituting this, we get:

If the rotationally transformed angle is inversely transformed, you can see how the coordinates on the pixel correspond to the coordinates on the world coordinate system. The conversion formula is as follows.

5 is a diagram illustrating a state of a grid layer generated according to a method of displaying location information on a camera-captured image according to an embodiment of the present invention.

Referring to FIG. 5 , the device (particularly, the grid layer generator) generates a grid layer based on coordinate mapping information. A grid layer is created based on a plurality of points on the world coordinate system. More specifically, based on the coordinate mapping information, a grid is created by placing dots at equal intervals horizontally and vertically. Looking at the hatched grid, the first point is the x:344, y:375 point, the second point is the x:345, y:375 point, the third point is the x:344, y:374 point, and the fourth point is the point x:344, y:374. The points indicate points x:345 and y:374. In this case, the first point and the third point may have a distance of 1 m, and the second point and the fourth point (vertical distance) may also have a distance of 1M. That is, a grid layer may be created by arranging a plurality of 1x1 grids.

6 is a diagram illustrating a state in which the grid layer of FIG. 5 is overlaid on an actual captured image.

Referring to FIG. 6 , the device overlays the grid layer generated in FIG. 5 on a captured image. In particular, in the embodiment of FIG. 6 , an actual grid is placed on the bottom surface of the area to be photographed, and a grid layer generated using the device according to an embodiment of the present invention is overlaid. can The test results will be described in more detail with reference to FIGS. 8A and 8B .

FIG. 7 is a diagram illustrating a shape of a grid layer changed according to a change of a zoom parameter.

Referring to FIG. 7 , based on a zoom level changed from that of the previous embodiment of FIG. 5 , the apparatus generates a grid layer having a shape different from that of the grid layer of FIG. 5 . That is, when a parameter related to zoom is included as a camera parameter, pixel coordinates and actual position coordinates are matched by multiplying the zoom parameter by the product (z') of the camera focal length and pixel ratio of Equation 1 make it Accordingly, the shape and size of the grating layer may also vary.

8A and 8B are diagrams showing test results indicating that the grid inserted in the captured image and the grid installed on the floor of the actual filming site match even when the photographing angle is changed.

8A and 8B , no matter what angle the camera is turned, the mapped coordinate information on the world coordinate system corresponding to the pixel is changed according to Equations 1 to 7 according to Equations 1 to 7, and accordingly the grid layer is regenerated, The shape of the grid layer is also changed accordingly. As a result, referring to FIGS. 8A and 8B , it can be seen that the lattice shape of the bottom surface and the lattice shape formed in the actual device are almost identical. That is, the change of the camera angle is reflected in the input of the PTZ information of the camera in the camera information input unit, and based on this, through the grid change logic in the coordinate mapping unit and the grid layer forming unit, it is reflected in the device in real time and displayed in the image do.

9A is a diagram illustrating the configuration of a user interface for checking actual location information by selecting a grid on a captured image displayed by a method of displaying location information on a camera captured image according to an embodiment of the present invention.

Referring to FIG. 9A , when the method of displaying location information on a camera-captured image according to an embodiment of the present invention is implemented through the app of the user terminal, the user interface provided by the app shows the location of the individual grid in the world coordinate system. Information can be displayed in a variety of formats. When one grid is selected from the tool area by dividing the area of the captured image and the tool area, location information of the selected grid may be displayed. In this case, the location information may be displayed as a relative location from the camera. In another example, the absolute position may be displayed by adding the relative position to the absolute position of the camera. In another aspect, the location of the grid may be defined as a location of one of four points constituting the grid, or may be defined as a location of a center point of the four points, that is, a center point of the grid.

Meanwhile, as the user alternately selects a desired grid, the user may acquire location information of a desired area within the captured image.

FIG. 9B is a diagram for explaining a method of checking distances between different grids using the user interface of FIG. 9A .

Referring to FIG. 9B , the user interface may display distances between different grids by converting them into distances in the world coordinate system. That is, by selecting grid 1 910 in which people are arranged and grid 2 920 in which boxes are arranged in the captured image, the actual distance between the two selected grids 910 and 920 may be displayed. The actual distance may be calculated based on the coordinates on the world coordinate system of the two grids. When the grid is selected for calculating the distance according to the embodiment of FIG. 9B and/or displaying the coordinate position according to the embodiment of FIG. 9A, the grid is displayed in a hatched form or in a color different from the general grid such as red or fluorescent color. can be

Although described above with reference to the drawings and embodiments, it does not mean that the scope of protection of the present invention is limited by the drawings or embodiments, and those skilled in the art will appreciate the spirit of the present invention described in the claims below. And it will be understood that various modifications and changes can be made without departing from the scope of the present invention.

Claims (15)

In the method of displaying actual location information on an image taken through a camera,
obtaining a plurality of parameters associated with a camera, the plurality of parameters including a height parameter associated with a height of the camera and an angle parameter associated with a vertical angle of the camera;
matching the pixels of the captured image with coordinates on a world coordinate system using the plurality of parameters; and
Comprising the step of mapping and displaying actual location information based on the world coordinate system based on the correspondence relationship to the captured image,
The plurality of parameters further include at least one of (i) in addition to the height parameter, (ii) an angle parameter for at least one of a horizontal direction and a vertical direction of the camera, and (iii) a focal length parameter of the camera; ,
The step of matching is the cosine (cosine ( cosine) and a sine function, comprising the step of matching the x-coordinate (x') and y-coordinate (y') of the pixel of the photographed image,
When the plurality of parameters includes a parameter related to zoom, the x-coordinate (x') and y-coordinate of the pixel of the captured image by multiplying the zoom parameter by the product of the camera focal length and the pixel ratio A method of displaying actual location information on a camera-captured image, calculating (y'). delete The method of claim 1, wherein the step of mapping and displaying the actual location information to the captured image comprises:
generating a grid shape based on the actual location information; and
and displaying the generated grid shape by overlaying the image on the captured image. 4. The method of claim 3,
The lattice shape includes at least one polygonal lattice having a predetermined area in the world coordinate system, the method for displaying actual location information in a camera-captured image. 5. The method of claim 4,
Further comprising the step of extracting a plane area (plane area) in the captured image,
The grid shape is overlaid on the captured image with respect to the planar area, the method for displaying actual location information on a camera-captured image. 5. The method of claim 4,
The polygonal grid includes a square grid having the same horizontal and vertical lengths, the method for displaying actual location information in a camera-captured image. delete The method of claim 1,

Calculate the x-coordinate (x') and y-coordinate (y') of the pixel of the captured image using
Here, x is a coordinate indicating the distance in the x direction from the camera in the world coordinate system, y is a coordinate indicating the distance in the y direction from the camera in the world coordinate system, z is the installation height of the camera, and x' is the The x-coordinate of the pixel, y' is the y-coordinate of the pixel of the captured image, z' is the product of the camera focal length and the pixel ratio, and θ ₀ is the vertical inclination of the camera. . delete The method of claim 1, wherein the matching step comprises:
When the horizontal angle parameter (φ ₀ ) exists, based on the horizontal angle parameter (φ ₀ ) and the vertical direction angle parameter (θ ₀ ), it is replaced by rotation transformation, A method of displaying actual position information on a camera-captured image, comprising the step of corresponding to the pixels of the captured image by rotating each coordinate system. 11. The method of claim 10,

Based on the horizontal angle parameter (φ ₀ ) and the vertical direction angle parameter (θ ₀ ) by using a rotation transformation (θ _rot ), the actual position information display method in the camera-shot image. 11. The method of claim 10,
_{After the rotation transformation, based on the angular parameters (φ 0} , θ ₀ ) in the horizontal and vertical directions of the camera, using tangent, cotangent and arctangent functions, one reset A method of displaying actual position information in a camera-captured image, which corresponds to the pixels of the captured image by converting it into an angle parameter of . 13. The method of claim 12,

Converted to the reset one angle parameter using
Here, θ _new is the reset one angle parameter. The method of claim 1,
The method further comprising the step of receiving a selection of a specific pixel in the captured image from a user terminal and providing a user interface for displaying the actual location information of the selected pixel, the method of displaying actual location information in a camera-captured image. In the device for displaying actual location information on the image taken through the camera,
a camera information input unit for obtaining a plurality of parameters associated with a camera, the plurality of parameters including a height parameter associated with a height of the camera and an angle parameter associated with a vertical angle of the camera;
an image input unit receiving an image captured by the camera; and
A coordinate mapping unit for matching a pixel of the captured image with coordinates on a world coordinate system by using the plurality of parameters,
Based on the correspondence, actual location information based on the world coordinate system is mapped and displayed on the captured image,
The plurality of parameters further include at least one of (i) in addition to the height parameter, (ii) an angle parameter for at least one of a horizontal direction and a vertical direction of the camera, and (iii) a focal length parameter of the camera; ,
The coordinate mapping unit is, by using the x coordinate and y coordinate expressing the actual distance from the camera in the world coordinate system, the camera installation height, the product of the focal length of the camera and the pixel ratio, and the vertical angle parameter of the camera, cosine (cosine) ) and through a sine function, the x-coordinate (x') and y-coordinate (y') of the pixel of the photographed image correspond,
When a parameter related to zoom is included in the plurality of parameters, the x-coordinate (x') and y-coordinate of the pixel of the captured image by multiplying the zoom parameter by the product of the camera focal length and the pixel ratio A device for displaying actual location information on an image captured by a camera, which calculates (y').

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