WO2023008444A1

WO2023008444A1 - Information processing device, program, and positioning method

Info

Publication number: WO2023008444A1
Application number: PCT/JP2022/028823
Authority: WO
Inventors: 大飯沼
Original assignee: Ｕｌｔｉｍａｔｒｕｓｔ株式会社
Priority date: 2021-07-27
Filing date: 2022-07-26
Publication date: 2023-02-02

Abstract

An information processing device 10 includes: a relative position information acquisition unit 106 that acquires, according to a first position positioning information showing the position of an imaging device 2 and a second position positioning information showing the position of a target point in an imaging range of the imaging device 2, relative position information showing a positional relationship between the imaging device and the target point; and an image position setting unit 109 that associates the relative position information with an image position corresponding to a target position in an image captured by the imaging device.

Description

Information processing device, program and positioning method

The present invention relates to an information processing device, a program, and a positioning method.

Conventionally, there is known a technique for specifying the position of a mobile object based on an image of the mobile object. For example, Patent Document 1 describes this type of technology.

Patent Document 1 relates to a positioning device for a mobile object using an external surveillance camera, which is an essential element when monitoring and following a mobile object. Japanese Patent Laid-Open No. 2004-100002 describes a mobile body having an acceleration sensor, a gyro, a magnetic sensor, an atmospheric pressure sensor, etc., and outputting the position coordinates of the mobile body from the feet of the mobile body predicted from the image of the surveillance camera.

Japanese Patent Application Laid-Open No. 2016-1875

Although the conventional technology described in Patent Literature 1 can correct the predicted position of the moving object based on the sensors of the moving object, there is still room for improvement in terms of more accurately identifying the position of the moving object. .

The present invention was made to solve the above problems, and its purpose is to accurately identify the position of a moving object such as an automobile in an image.

To achieve the above object, an information processing apparatus according to one aspect of the present invention provides first positioning information indicating the position of an imaging device and second position indicating the position of a target point within the imaging range of the imaging device. a relative position information acquisition unit that acquires relative position information indicating the positional relationship between the imaging device and the target point based on positioning information; and an image position corresponding to the target point in the image captured by the imaging device. and an image position setting unit that associates the relative position information with the image.

According to the present invention, it is possible to accurately identify the position of a moving object such as an automobile in an image.

1 is a schematic diagram showing an imaging device, a mobile object, a server, and a positioning satellite according to one embodiment of the present invention; FIG. 1 is a block diagram showing the hardware configuration of an information processing apparatus according to one embodiment of the present invention; FIG. 1 is a block diagram showing functional configurations of an imaging device, a server, and a moving body according to an embodiment of the present invention; FIG. 1 is a schematic plan view showing the positional relationship between an imaging device and a moving object according to an embodiment of the present invention; FIG. FIG. 4 is a diagram showing an example of an image in which position information is superimposed on an image captured by an imaging device according to an embodiment of the present invention; FIG. 4 is a schematic plan view showing the positional relationship between the imaging device according to the embodiment of the present invention and a moving body, and is a diagram showing an example of positioning a plurality of positions of the moving body. FIG. 10 is a diagram showing an example of an image in which position information is superimposed on an image captured by the imaging device according to the embodiment of the present invention, and is a diagram particularly showing an example in which a plurality of positions of a moving body are measured. 4 is the first half of a flowchart for displaying position information on an image captured by an imaging device according to an embodiment of the present invention; FIG. 11 is the second half of the flowchart for displaying position information on an image captured by the imaging device according to the embodiment of the present invention; FIG. FIG. 4 is a diagram showing an example of an image from which position information at arbitrary coordinates is obtained in an image captured by the imaging device according to the embodiment of the present invention;

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

As shown in FIG. 1, the information processing apparatus 10 of the present embodiment exchanges electronic information between the imaging device 2 and the moving body 3 moving around the imaging device 2, for example. The information processing device 10 appropriately has an information processing device communication device 18, the imaging device 2 has an imaging device communication device 28, and the moving body 3 has a moving body communication device 38, respectively. Electronic information is exchanged mainly through the communication line 121 . In this example, communication line 121 is wireless communication. Note that the communication line 121 is not limited to wireless communication. For example, the communication line 121 may use wired communication.

Reference position information, first positioning information, and second positioning information are obtained as position information. The reference position information is position information obtained by accurately measuring the position of the imaging device 2 . The first positioning information is the position information of the current position measured by GNSS representing the position of the imaging device 2, and the position accuracy of the first positioning information alone is lower than that of the reference position information. The second positioning information is position information of the current position measured by GNSS representing the position of the mobile object 3, which is the target point, and the position accuracy of the second positioning information alone is lower than that of the reference position information. The first positioning information and the second positioning information are acquired based on positioning signals of satellites synchronized in time. Here, the synchronization of the times does not only mean that the times are completely matched. It is the time that associates the acquisition time of the first location information and the acquisition time of the second location information. More specifically, the difference in acquisition time is within the difference in time that can offset the GNSS radio wave reception status at the acquisition time of the first location information and the GNSS radio wave reception status at the acquisition time of the second location information. Examples include:

The reference position information of the imaging device 2 is obtained when the reference position antenna 20 receives the positioning signal from the reference position satellite 41 . A reference position satellite positioning signal reception unit 401 (not shown) receives an electrical signal from the reference position antenna 20, and a reference position positioning calculation unit 402 (not shown in FIG. 1) calculates and derives reference position information. . The first positioning information of the imaging device 2 is obtained when the first positioning antenna 21 of the imaging device 2 receives positioning signals from the first positioning satellites 42 . A first positioning satellite positioning signal receiving unit 403 (not shown in FIG. 1) receives an electrical signal from the first positioning antenna 21, and a first positioning calculation unit 404 (not shown) receives the first positioning information. Calculate and derive.

The moving object 3 has a second position antenna 31. The second positioning antenna 31 receives positioning signals from the second positioning satellite 43 . A second positioning satellite positioning signal receiving unit 405 (not shown) receives the electrical signal from the second positioning antenna 31, and a second positioning calculating unit 406 (not shown) calculates second positioning information. derive

The first positioning satellite 42 and the second positioning satellite 43 require four satellites to calculate the position coordinates. The reason is that position coordinates and time are variables. FIG. 1 shows an example in which five satellites are applied as the first positioning satellites 42, five satellites are applied as the second positioning satellites 43, and four satellites among them are common.

Although the details will be described later, the information processing device 10 identifies the position of the moving object 3, which is the target point, based on the reference position information, the first positioning information, and the second positioning information.

As shown in FIG. 2, the information processing apparatus 10 includes a processor 13, a ROM (Read Only Memory) 14, a RAM (Random Access Memory) 15, an input/output unit 11, a communication unit 12, and an input/output interface 17. and

The processor 13 performs various calculations and processes. The processor 13 includes, for example, a CPU (central processing unit), MPU (micro processing unit), SoC (system on a chip), DSP (digital signal processor), GPU (graphics processing unit), ASIC (application technology), Examples include PLD (programmable logic device) or FPGA (field-programmable gate array). Alternatively, processor 13 is a combination of several of these. Also, the processor 13 may be a combination of these with a hardware accelerator or the like.

The processor 13 , ROM 14 and RAM 15 are interconnected via a bus 16 . The processor 13 executes various processes according to programs recorded in the ROM 14 or programs loaded in the RAM 15 . Part or all of the program may be incorporated within the circuitry of processor 13 .

The bus 16 is also connected to the input/output interface 17 . The input/output unit 11 and the communication unit 12 are connected to the input/output interface 17 .

The input/output unit 11 is electrically connected to the input/output interface 17 by wire or wirelessly. The input/output unit 11 includes, for example, an input unit such as a keyboard and a mouse, and an output unit such as a display for displaying images and a speaker for amplifying sounds. Note that the input/output unit 11 may have a configuration in which the display function and the input function are integrated like a touch panel.

The communication unit 12 is a device in which the processor 13 communicates with other devices (for example, the imaging device 2 and the mobile object 3) via the communication line 121.

The hardware configuration shown here is just an example, and it is not particularly limited to this configuration. In addition to those composed of single processors such as single processors, multiprocessors, and multicore processors, these various processors are combined with processing circuits such as ASIC (Application Specific Integrated Circuit) and FPGA (Field-Programmable Gate Array). may be employed as a processor to realize the functional configuration.

FIG. 3 shows the functional configuration of the information processing device 10 of the present embodiment, and the imaging device 2, mobile object 3, etc. with which the information processing device 10 exchanges signals. As for the moving body 3, there is a case where one moving body 3 moves to a plurality of points and is positioned at each point. On the other hand, there may be a plurality of moving bodies 3 and positioning may be performed at a plurality of points. Any of these cases will be referred to as the moving object 3 in this specification.

A functional configuration of the information processing device 10 is implemented by the processor 13 . The functional configuration of the imaging device 2 is realized by electronic components mounted on the imaging device 2 and a processor of an information processing device such as a computer. Similarly, the functional configuration of the mobile body 3 is realized by an information processing device such as an electronic component computer mounted on the mobile body 3 .

The information processing device 10 here is separate from the imaging device 2 and the mobile object 3, and the server 1 includes all of the functional configurations. The information processing device 10 can also be configured to be partially or wholly incorporated in the imaging device 2 and the moving body 3 .

These functional configurations will be described below with reference to FIGS. 1 to 3 as appropriate. The reference position satellite positioning signal reception unit 401 receives satellite signals via the reference position antenna 20 in order to position the reference position of the imaging device 2 . The reference position positioning calculator 402 receives the signal from the reference position satellite positioning signal receiver 401 and calculates the reference position of the imaging device 2 . Here, as the reference position satellite 41, for example, a satellite that provides an accurate position such as a quasi-zenith satellite is selected, and an accurate position is provided as the reference position. The reference position antenna 20 for receiving radio waves from the reference position satellite 41 is generally relatively large, and it is preferable that the reference position antenna 20 be removed after the position is measured. It is preferable that the measurement device including the reference position antenna 20 and the reference position information acquisition unit 103 is detachably connected to the imaging device 2 . Accordingly, after the reference position is determined, the reference position antenna 20 and the reference position information acquisition unit 103 can be removed from the imaging device 2 .

In specifying the reference position of the imaging device 2, in addition to the example of using a quasi-zenith satellite, the installation position of the imaging device 2 may be plotted on a map and the position coordinates may be specified from the map.

The position of the imaging device 2 is derived by a positioning system similar to the positioning system that the mobile body 3 can have, in addition to positioning based on the reference position satellite 41 described above. The current position of imaging device 2 is referred to herein as the first position. A system similar to the positioning system that the moving body 3 can have has a first positioning antenna 21 , a first positioning satellite positioning signal receiving section 403 and a first positioning calculation section 404 . The first positioning satellite positioning signal receiving unit 403 receives the positioning signal from the first positioning antenna 21 , and the first positioning calculation unit 404 calculates the first position of the imaging device 2 . The first positioning satellite positioning signal reception unit 403 and the first positioning calculation unit 404 may be provided in the imaging device 2 .

The reference position of the imaging device 2 may be obtained by long-term positioning or static positioning using the first positioning antenna 21, the first positioning satellite positioning signal receiving unit 403, and the first positioning calculation unit 404.

The image capturing device 2 has an image capturing unit 201, and captures, for example, the moving body 3 moving in the parking lot. The imaging device 2 has an attitude control device 22 . The posture control unit 202 controls the shooting direction of the imaging device 2 via the posture control device 22 . The imaging device 2 has an orientation/position information detection unit 203 , detects the shooting direction of the imaging device 2 controlled by the orientation control unit 202 , and sends the detection result to the image information management unit 101 of the information processing device 10 . be done.

The information processing apparatus 10 has an image information management unit 101, an information recording unit 102, a reference position information acquisition unit 103, a first positioning information acquisition unit 104, a second positioning information acquisition unit 105, and a relative position information acquisition unit 106. .

For convenience of explanation, the functional configuration of the moving body 3 will be explained first. The moving body 3 is, for example, an automobile moving in a parking lot. The current position of the mobile 3 is referred to herein as the second position. As shown in FIG. 1, the moving body 3 has a second positioning antenna 31, and further, as shown in FIG. have There are cases where a plurality of moving bodies 3 are used and the respective positions are measured, and there are cases where one moving body 3 is used, the moving body 3 moves, and each moved position is measured. In this specification, unless otherwise specified, they are referred to as the moving body 3 without being distinguished from each other.

The second positioning satellite positioning signal receiving unit 405 receives the positioning signal from the second positioning antenna 31, and the second positioning calculation unit 406 calculates the second position.

The first position measured by the first positioning calculation unit 404 via the first position antenna 21 and the second position measured by the second positioning calculation unit 406 via the second positioning antenna 31 are the current positions. is positioning information indicating

The details of the function of each functional configuration of the information processing device 10 will be described with reference to FIG. In order to describe along the flow of signals, the positions of the functional configuration to be described in FIG.

The reference position information acquisition unit 103 acquires the reference position calculated by the reference position positioning calculation unit 402 . The first positioning information acquisition unit 104 acquires the first positioning information calculated and derived by the first positioning calculation unit 404 . The second positioning information acquisition unit 105 acquires the second positioning information derived by the second positioning calculation unit 406 of the moving body 3 .

The relative position information acquisition unit 106 calculates the distance between the first position of the imaging device 2 and the second position of the moving body 3 based on the information from the first positioning information acquisition unit 104 and the second positioning information acquisition unit 105. Derive the relative position. The relative position information includes, for example, information such as distance, direction, and height.

Here, in deriving the relative position, it is preferable that the first positioning satellite positioning signal receiving section 403 and the second positioning satellite positioning signal receiving section 405 use the same satellite for measurement. The relative positional relationship between the two transitions is obtained by measuring the time difference between the radio signals from the satellites arriving at the respective receivers. Each observation point receives radio waves from the same satellite, and the radio waves emitted from the satellite pass through similar weather conditions. This eliminates satellite position errors and delays in the troposphere and ionosphere. This provides an accurate relative position.

The first positioning information and the second positioning information are derived based on the positioning signals from the satellites. Then, the difference between these positions or the distance indicating the difference is obtained as relative position information.

The image information management unit 101 obtains the reference position from the reference position information acquisition unit 103 and the relative position from the relative position information acquisition unit 106 . Then, by adding the relative position to the reference position, the accurate position or absolute position coordinates of the moving body 3 are derived.

The image information management unit 101 acquires the reference position from the reference position information acquisition unit 103, the image from the imaging unit 201 of the imaging device 2, and the orientation of the imaging device 2 from the orientation position information detection unit 203 of the imaging device 2. The relative position information of the moving body 3 is received from the position information acquisition unit 106 respectively.

The image information management unit 101 has an imaging device orientation position information acquisition unit 107 , an image position correction unit 108 , an image position setting unit 109 , an interpolation/extrapolation processing unit 110 and a moving object identification unit 111 .

The imaging device posture/position information acquisition unit 107 receives posture information of the imaging device 2 from the posture/position information detection unit 203 . An image position correction unit 108 corrects the image position of the captured image obtained from the imaging unit 201 . For example, an image captured when the imaging device 2 is oriented at 90° and an image captured when the imaging device 2 is oriented at 45° are corrected and joined together. Then, an image with a wider angle of view than the angle of view of the imaging device itself is realized.

The posture position information detection unit 203 detects, for example, the output of the three-axis servomotor of the tripod on which the imaging device 2 is installed. However, estimation of the orientation of the imaging device 2 is not limited to those directly fixed to the imaging device 2, such as acceleration sensors and geomagnetic sensors. The posture of the imaging device 2 may be estimated from a camera image that overlooks the imaging device or from a posture estimation device externally attached to the imaging device. When a change in posture of the imaging device is detected, the relative position information is updated according to the amount of change.

The imaging device orientation position information acquisition unit 107 acquires position information and orientation information from the reference position information acquisition unit 103 . It is assumed that the position or attitude of the imaging device 2 has been changed. When these changes are detected by the posture position information detector 23, the image position correction unit 108 corrects the relationship between the positions in the image and the relative position information based on these changes.

The image position setting unit 109 incorporates the correction of the relationship between the position in the image and the relative position information by the image position correcting unit 108, and associates the relative position information with the image position in the image captured by the imaging device 2. .

The captured image 240 captured by the imaging device 2 is given reference position information, or the moving body position information is given to an image including the moving body 3 . This information is then recorded in the information recording unit 102 .

The interpolation/extrapolation processing unit 110 calculates the relative position corresponding to arbitrary coordinates in the captured image 240 based on the coordinates in the captured image 240 already derived corresponding to the plurality of second positions and the relative position information. Information is obtained by interpolation and extrapolation.

The moving body identifying unit 111 identifies the moving body 3 in the captured image 240 by image recognition. Then, the moving body identification unit 111 derives coordinates on the image corresponding to the identified position of the moving body 3 .

Next, an example of processing for associating relative position information with an image position in an image captured by the imaging device 2 will be described with reference to FIGS. 4 and 5. FIG. FIG. 4 is a schematic plan view showing the positional relationship between the moving body 3 moving in the parking lot and the imaging device 2. As shown in FIG. FIG. 5 is an example of a captured image 240 captured by the imaging device 2 .

In FIG. 5, the distance, angle, and height are given to the screen as device position information of the imaging device 2 . In the example of FIG. 5, the distance from the imaging device 2 is 13.8 m, the angle is 123°, and the height is 1.3 m.

The moving body identification unit 111 recognizes the moving body 3 in the captured image 240 by image recognition technology and identifies the coordinates on the image 240 . Based on the first positioning information obtained by the first positioning information obtaining unit 104 and the second positioning information obtained by the second positioning information obtaining unit 105, the relative position information obtaining unit 106 captures an image of the moving body 3. Get relative position information at time. Then, the image position setting unit 109 associates the position coordinates of the mobile object 3 on the image 240 with the device position information.

The above process is repeated at each point in the image. Description will be made with reference to FIGS. 6 and 7. FIG. FIG. 6 shows a plan view, and FIG. 7 shows a screen display example. For example, an image file and an information file containing data such as position information and orientation information are saved as separate files, and whether or not to superimpose information based on the information file on the image is arbitrarily selected at the time of reproduction.

The second positioning information acquisition unit 105 acquires the second positioning information at the point where the moving body 3 moves in the parking lot. Further, as shown in FIG. 6, the moving body 3 acquires the third positioning information at a plurality of points in the parking lot. Then, relative position information with respect to the imaging device 2 is obtained by the relative position information obtaining unit 106 at five points in FIG. In FIG. 6, (13.8 m, 12.3°, 1.3 m) (11.3 m, 57°, 2.2 m) where the combination of distance, angle, and height is (distance, angle, height) and other relative position information are obtained.

As described above, relative position information from the imaging device 3 is associated with each point in the image through a series of processes. In subsequent processing, the position of the subject in the image 240 captured by the imaging device 3 can be calculated based on the relative position information of each point. The interpolation/extrapolation processing unit 110 determines the relative position corresponding to arbitrary coordinates in the captured image 240 based on the coordinates in the captured image 240 already derived corresponding to the plurality of second positions and the relative position information. Information is obtained by interpolation and extrapolation. That is, the image position setting unit 109 can accurately derive the position of the moving body at the target point in the image only from the image without acquiring the position information from the moving body.

By the way, when the relative position information of the moving body 3 is acquired for multiple points, abnormal values may be mixed. This is assumed to be caused by signal noise entering the device or by deterioration in the reception state of positioning radio waves. Such outliers are corrected based on other relative position information. For example, it is useful to take the mean, removing the points with its outliers.

　FIGS. 8 and 9 are flowcharts showing the flow of processing according to the functional configuration. FIG. 8 shows the first half of the flowchart, and FIG. 9 shows the second half of the flowchart. A dummy step indicated by A is written in the circle to show the connection. When the process starts, the information processing apparatus 10 acquires reference position information (step S501). Next, the imaging device 2 acquires posture information (step S502). If the posture of the imaging device 2 has changed (step S503: Yes), the process returns to step S501. If the posture of the imaging device 2 has not changed (step S503: No), the imaging device 2 acquires image information (step S504). Next, the imaging device 2 acquires first positioning information (step S505). If the moving body 3 has acquired the second positioning information, the relative position information of the moving body 3 is acquired (step S507). If the mobile object 3 has not acquired the second positioning information (step S506: No), the coordinates of the mobile object in the image are calculated. Then, the relative position information of the moving body 3 is acquired (step S507). When the absolute position coordinates of the moving body 3 are acquired (step S509; Yes), the relative position information of the moving body 3 is added to the reference position information of the imaging device 2, and the absolute position information of the moving body is generated ( Step S511), the position information of the moving body 3 is associated with the image information (step S510). Absolute position information includes, for example, latitude and longitude. When the absolute position coordinates of the moving body 3 are not acquired (step S509: No), the position information of the moving body 3 is associated with the image information. The finally obtained information is recorded in the information recording unit 102, and the process ends (END).

In FIG. 8, the reference position information of the imaging device 2 is acquired prior to the first positioning information. The order is not limited to this, and the order can be changed. Furthermore, the reference position information can be acquired after the relative position information 230 between the imaging device 2 and the moving object 3 is acquired or in advance.

In the description so far, the information processing device 10 is independently incorporated in the server 1. The information processing device 10 is not limited to this, and a part or all of the information processing device 10 can be incorporated in the imaging device 2 or the moving body 3 . For example, in the case where the entire information processing device 10 is incorporated in the imaging device 2, in terms of hardware, the imaging device 2 and the moving body 3 may be connected by a communication line 121, for example WiFi. benefits arise. An image position correction unit 108, an image position setting unit 109, an interpolation/extrapolation processing unit 110, a moving object identification unit 111, a relative position information acquisition unit 106, etc. are provided in the server 1, and other components are imaged. A configuration provided in the device 2 is also possible. As a result, the central processing unit can be provided only in the server 1, and there is no need to provide the imaging device 2 with a countermeasure against heat dissipation, a large-capacity uninterruptible power supply, or the like.

(Modification 1)
Interpolation and extrapolation processing based on the coordinates of each point on the image 240 in FIG. 7 and relative position information such as the distance, angle, and height from the imaging device 2 to each point shown in FIGS. is performed. The distance and angle from the imaging device 2 are obtained for any point on the image 240 . FIG. 10 shows equidistant lines and bearings on image 240 drawn based on the result of interpolation extrapolation. Although the height is omitted, if it is a perfectly flat land that is similarly required, it will be an equidistant line by an ellipse. is not limited.

As a result, when the moving object 3 is captured on the image 240, the moving object identifying unit 111 can obtain the relative position information between the moving object 3 and the imaging device 2 by identifying the position or coordinates on the image 240. . The mobile 3 does not necessarily have to have the second positioning information. First, the moving body 3 is recognized in the image 240 by the moving body identification unit 11 . The contour of the mobile object 3 is recognized by the mobile object identification unit 111, and the contact points with the ground are identified. A contact point is identified as a position or coordinates on the image 240 of the moving body 3 . Then, from the coordinates on the image 240, the distance, angle, and height of the moving body 3 from the imaging device 2 are derived by the moving body identifying unit 111 through the interpolation extrapolation described above.

(Modification 2)
The information recording unit 102 stores not only the relative information acquired by the relative position information acquisition unit 106, that is, the distance, angle, and height from the imaging device 2 to the moving object 3, but also image information and information obtained from the image (depth , position and height). In order to reduce the communication load, it includes not only the position information of the subject, but also the position information of roads, buildings, etc. in the background.

(Modification 3)
When obtaining only relative position information, reference position information may not be used. If the reference position information is not used, the reference position information acquisition unit 103 can be omitted. In this way, the functional configuration of this embodiment can be omitted as appropriate, and another functional configuration can be added.

(Modification 4)
In the description of the above embodiments, the mobile object is an automobile, but it may be a vehicle, a ship, a bicycle, an aircraft, a person, an animal, a mobile terminal, or the like. So far, the use of the reception function of positioning radio waves of positioning satellites has been taken as an example for positioning the position of a mobile object. may be a configuration in which is estimated. Position information predicted from travel history, positioning by beacons, distance measuring devices such as LiDAR, and position information based on analysis results of images acquired by imaging devices may also be used. The moving body itself does not have to have means for acquiring position information.

The series of processes described above can be executed by hardware or by software. When a series of processes is to be executed by software, a program that constitutes the software is installed in a computer or the like from a network and a recording medium. A recording medium containing such a program is not only composed of removable media distributed separately from the main body of the device in order to provide the program to the borrower, but is also provided to the borrower in a state pre-installed in the main body of the device. It consists of a recording medium, etc. Removable media include, for example, magnetic disks (including floppy disks), optical disks, or magneto-optical disks. Optical discs are composed of, for example, CD-ROMs (Compact Disk-Read Only Memory), DVDs (Digital Versatile Disks), Blu-ray (registered trademark) Discs (Blu-ray Discs), and the like. The magneto-optical disk is composed of an MD (Mini-Disk) or the like. Also, the recording medium provided to the borrower in a state of being pre-installed in the apparatus main body is composed of, for example, a program memory and a hard disk in which the program is recorded.

According to the information processing device 10, the loan support program, and the loan support method according to the embodiment described above, the following effects are achieved.

The information processing device 10 connects the imaging device and the target point based on first positioning information indicating the position of the imaging device 2 and second positioning information indicating the position of the target point within the imaging range of the imaging device 2. and an image position setting unit that associates the relative position information with the image position corresponding to the target position in the image captured by the imaging device. .

The position of the mobile object 3 such as a car can be accurately specified on the image position.

In the information processing device 10, the relative position information includes distance information indicating the distance from the position of the imaging device 2 to the target point, and angle information indicating the imaging direction of the imaging device.

In a situation where an imaging device 2 such as a surveillance camera is installed, the position of a moving body 3 such as an automobile can be accurately specified using distance information from the imaging device 2 and angle information indicating the direction.

The relative position information acquisition unit 106 included in the information processing apparatus 10 acquires relative position information for each of a plurality of target points of different points, and the image position setting unit 109 acquires the image position corresponding to each of the plurality of target points. associated with the corresponding relative position information.

By setting the relative position information of multiple target points on the image, the amount of information in the image increases.

In the information processing device 10, each piece of relative position information in the image associated with each of the plurality of second points is corrected based on the relative position information of other second points.

　More accurate information can be obtained as each relative position information in the image.

The information processing apparatus 10 includes an imaging device orientation/position information acquisition unit 107 that acquires imaging device orientation/position information regarding the orientation and/or position of the imaging device 2 .

By changing the posture and/or position of the imaging device 2, it is possible to acquire position information for an image with a wider angle of view.

When the information processing apparatus detects a change in the orientation and/or position of the imaging device 2 based on the imaging device orientation/position information acquired by the imaging device orientation/position information acquisition unit 107, the information processing device determines the image position in the image based on the change. An image position correction unit 108 is provided to correct the relative position information relationship.

　The accuracy of the relative position information in the image is improved.

The information processing device has reference position information that is absolute position information of the imaging device that is more accurate than the first positioning information, and obtains current position information of the target point based on the reference position information and the relative position information. An image position setting unit 109 is provided.

The reference position information provides an accurate absolute position of the imaging device. An error is canceled between the positioning information of the imaging device 2 based on the positioning signal and the positioning information of the moving body 3 at the target point. As a result, accurate relative position information between the moving body 3 at the target point and the imaging device can be obtained. Together with the reference position information, accurate current position information of the moving object 3, which is the target point, can be obtained.

In the information processing device 10, the second positioning information is positioning information indicating the current position based on the positioning signal of the moving body 3 passing through the target point.

Accurate relative position information between the mobile object 3 and the first point can be obtained. Accurate position information of the moving body 3 is obtained together with the reference position information.

The information processing device 10 includes a moving object identification unit that identifies, by image recognition, the moving object 3 passing through the target position in the image captured by the imaging device.

Even if the mobile object 3 does not have an antenna or system for acquiring positioning information, the position of the mobile object 3 can be identified. Then, the moving body 3 can be specified by image recognition.

The information processing device 10 includes an interpolation/extrapolation processing unit that associates position information with respect to an arbitrary position in the image from the correspondence between a plurality of pieces of second positioning information and positions in the image.

　The relative position information of any position in the image can be obtained.

The program indicates the positional relationship between the imaging device and the target point based on first positioning information indicating the position of the imaging device and second positioning information indicating the position of the target point within the imaging range of the imaging device. A relative position information acquisition function for acquiring relative position information, and an image position setting function for associating relative position information with an image position corresponding to a target position in an image captured by the imaging device.

The position specifying method determines the positional relationship between the imaging device and the target point based on first positioning information indicating the position of the imaging device and second positioning information indicating the position of the target point within the imaging range of the imaging device. and an image position setting step of associating the relative position information with the image position corresponding to the target position in the image captured by the imaging device.

Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and can be modified as appropriate. For example, it is possible to omit some of the functional configurations of the respective embodiments described above, or to combine other functional configurations.

1 Server, 2 Imaging device, 3 Moving body, 10 Information processing device, 101 Image information management unit, 103 Reference position information acquisition unit, 104 First positioning information acquisition unit, 105 Second positioning information acquisition unit, 106 Relative position information acquisition unit 107 imaging apparatus attitude position information acquisition unit 108 image position correction unit 109 image position setting unit

Claims

A positional relationship between the imaging device and the target point is indicated based on first positioning information indicating the position of the imaging device and second positioning information indicating the position of the target point within the imaging range of the imaging device. a relative position information acquisition unit that acquires relative position information;
an image position setting unit that associates the relative position information with an image position corresponding to the target point in the image captured by the imaging device;
Information processing device.
The information processing apparatus according to claim 1, wherein the relative position information includes distance information indicating the distance from the position of the imaging device to the target point, and angle information indicating the imaging direction of the imaging device.
The relative position information acquisition unit acquires the relative position information for each of the plurality of target points at different points,
3. The information processing apparatus according to claim 1, wherein the image position setting unit associates the corresponding relative position information with the image positions corresponding to each of the plurality of target points.
The information processing apparatus according to claim 3, wherein each of the relative position information in the image associated with each of the plurality of second points is corrected based on the relative position information of other second points. .
5. The information processing apparatus according to any one of claims 1 to 4, further comprising an imaging device attitude/position information acquisition unit that acquires imaging device attitude/position information relating to the attitude and/or position of the imaging device.
When a change in the orientation and/or position of the imaging device is detected based on the imaging device orientation and position information acquired by the imaging device orientation and position information acquisition unit, the image position in the image and the relative position in the image are detected based on the change. The information processing apparatus according to any one of claims 1 to 5, further comprising an image position correcting section that corrects positional information relationships.
An image position setting unit that has reference position information that is absolute position information of an imaging device that is more accurate than the first positioning information, and obtains current position information of the target point based on the reference position information and the relative position information. The information processing apparatus according to any one of claims 1 to 6.
The information processing apparatus according to any one of claims 1 to 7, wherein the second positioning information is positioning information indicating a current position based on a positioning signal of the moving body passing through the target point.
The information processing apparatus according to any one of claims 1 to 8, further comprising a moving body identifying unit that identifies a moving body passing through the target point in the image captured by the imaging device by image recognition.
10. The method according to any one of claims 3 to 9, further comprising an interpolation/extrapolation processing unit that associates position information with respect to an arbitrary position in the image based on association between a plurality of pieces of second positioning information and positions in the image. information processing equipment.
A positional relationship between the imaging device and the target point is indicated based on first positioning information indicating the position of the imaging device and second positioning information indicating the position of the target point within the imaging range of the imaging device. A relative position information acquisition function for acquiring relative position information;
an image position setting function that associates the relative position information with an image position corresponding to the target point in the image captured by the imaging device;
A program with
A positional relationship between the imaging device and the target point is indicated based on first positioning information indicating the position of the imaging device and second positioning information indicating the position of the target point within the imaging range of the imaging device. a relative position information obtaining step for obtaining relative position information;
an image position setting step of associating the relative position information with an image position corresponding to the target point in the image captured by the imaging device;
A positioning method comprising: