| US 7,613,361 B2 | ||
| Information processing method and device | ||
| Mahoro Anabuki, Cambridge, Mass. (US); Kiyohide Satoh, Kawasaki (Japan); Shinichi Aratani, Yokohama (Japan); and Daisuke Kotake, Yokohama (Japan) | ||
| Assigned to Canon Kabushiki Kaisha, Tokyo (Japan) | ||
| Filed on May 11, 2005, as Appl. No. 11/127,000. | ||
| Claims priority of application No. 2004-144784 (JP), filed on May 14, 2004; application No. 2004-144895 (JP), filed on May 14, 2004; application No. 2004-320637 (JP), filed on Nov. 04, 2004; and application No. 2005-065356 (JP), filed on Mar. 09, 2005. | ||
| Prior Publication US 2005/0256395 A1, Nov. 17, 2005 | ||
| Int. Cl. G06K 9/36 (2006.01); G06K 9/32 (2006.01); G06K 9/00 (2006.01) | ||
| U.S. Cl. 382—287 [382/103; 382/291; 382/295] | 13 Claims |
| 1. An information processing method for calculating a position of a marker provided upon an object in an object coordinate
system using the object as a reference, the information processing method comprising:
an object position-and-orientation information obtaining step for obtaining position and orientation information of the object;
a first image input step for inputting a first image from a bird's-eye view imaging unit, photographed from a bird's-eye view
of the object in a world coordinate system;
a detecting step for detecting the marker from the first image and obtaining a real value of an image coordinate of the detected
marker;
an image coordinate calculating step for calculating an ideal value of the image coordinate of the marker based on the position
and orientation information of the object in the world coordinate system and a state vector representing the position of the
marker in the object coordinate system;
a correction value calculating step for calculating a correction value of the state vector based on a difference between the
real value and the ideal value of the image coordinate of the marker; and
a marker position calculating step for calculating the position of the marker in the object coordinate system by correcting
the state vector representing the position of the marker in the object coordinate system with the correction value.
|