Source: https://patents.google.com/patent/WO2007077151A2/en
Timestamp: 2020-01-17 14:03:12
Document Index: 122233646

Matched Legal Cases: ['art 211', 'art 211', 'art 211', 'art 211', 'art 211', 'art 211', 'art 705', 'art 211', 'art.\n10']

WO2007077151A2 - Mobile device tracking - Google Patents
WO2007077151A2
WO2007077151A2 PCT/EP2006/070087 EP2006070087W WO2007077151A2 WO 2007077151 A2 WO2007077151 A2 WO 2007077151A2 EP 2006070087 W EP2006070087 W EP 2006070087W WO 2007077151 A2 WO2007077151 A2 WO 2007077151A2
PCT/EP2006/070087
WO2007077151A3 (en
2006-01-05 Priority to US11/325,952 priority Critical patent/US7681796B2/en
2006-01-05 Priority to US11/325,952 priority
2006-12-21 Application filed by International Business Machines Corporation, Ibm United Kingdom Limited filed Critical International Business Machines Corporation
2007-07-12 Publication of WO2007077151A2 publication Critical patent/WO2007077151A2/en
2007-11-01 Publication of WO2007077151A3 publication Critical patent/WO2007077151A3/en
The present invention provides a method, apparatus, and computer program product for obtaining the location of, for example, a mobile device (211).The present invention comprising: obtaining an image of a target (202-206) in a defined space; analyzing the image to obtain identification data and image positional data, the image positional data, comprising a position in the image of a reference point relative to the target; using the indentification data to obtain target location data comprising a location of the target in the defined space; and determining the location of the reference point in the defined space by combining the image positional data and the target location data.
A common scenario in which location of a mobile device is obtained for the purposes of tracking is in a modern store where the mobile device which is tracked is a shopping cart. A cart may be tracked for a variety of reasons, for example, to obtain knowledge of the flow of customers through a store to use when arranging products in the store to avoid bottlenecks and ensure maximum exposure of specific products selected for promotion. For example, knowledge of the current location of a cart is used to provide information to the customer using the cart, which is pertinent to that location in the store, such information being provided to a display device associated with a shopping cart.
For example, US 5,076,690 to deVos, et al . , discloses position sensing based on the tπangulation calculation using at least three retro-reflective elements spaced apart and positioned at known locations. One of the retro-reflective elements may be a bar code so that it is identifiable. A rotating member with a light transmitting and detecting device is used to locate and illuminate the retro-reflective elements. However this solution is not suitable, for example, for determining cart location in a store because it requires a line of sight to at least 3 wall mounted reflectors which would be difficult to achieve for all possible cart locations in a large store.
For example US 5,812,267 to Everett, et al . , discloses determining a distance from multiple reflectors using two sensors each of which each generate light and detect a reflected light signal from a reflector. Tπangulation is then used to determine a distance from the reflectors based on the detected signals from each sensor. However, this solution is not suitable, for example, for determining cart location in a store because it calculates only a distance from the reflectors and cannot distinguish one reflector from another. As a result it is only possible to calculate location based on a known previous location which is not appropriate for a shopping cart.
For example US 4,918,607 to Wible, et al . , discloses position sensing based on the tπangulation calculation using reflection from two retro-reflective elements each of which encode their location using a bar code. A scanning process is used to locate the retro-reflective elements which are positioned in pre-selected spaced apart co-linear locations. However, this solution is also not suitable, for example, for determining cart location in a store because the scanning mechanism scans only selected areas and restricts the locations into which the retro-reflective elements must be placed. Further in the art it is known to use retro-reflective barcodes in guidance systems. For example US 5,202,742 to Frank, et al . , discloses a laser radar apparatus for vehicle guidance along a road. Light propagation delay from a reflective target is measured to determine target distance and a scanning mirror used to measure the angle between the laser apparatus and the reflective target. The trigonometric relationship of the target distance and angle are then used to calculate distance from the target. The reflective targets may incorporate a bar code which imparts information such as the side of the road, an approaching exit, speed limit changes etc. Further, for example US 4,790,402 to Field, et al . , discloses a guidance system in which a lateral scanning laser transmitter-receiver detects retro-reflective targets along a path and these are used to keep the vehicle on a prescribed path. The retro-reflective targets may include perpendicular bar-codes to make them easier to identify and read by the scanner.
It is an object of the present invention to provide a system suitable for use in determining the location of a shopping cart in a store in which the target used to determine cart location is passive, that is, it requires no external power. It is a further object of the invention to determine the location of a shopping cart in a store from detection of a single target and further in which location of each target is relatively flexible .
According to a first aspect , the present invention provides a method comprising; obtaining an image of a target in a defined space, ; analyzing the image to obtain the identification data and image positional data, the image positional data comprising a position in the image of a reference point relative to the target; using the identification data to obtain target location data comprising a location of the target in the defined space; and determining the location of the reference point in the defined space by combining the image positional data and the target location data.
Preferably, the present invention provides a method wherein the reference point represents the location from which the image was taken.
Preferably, the present invention provides a method wherein the location data further comprises defined space orientation data for the target in the defined space and the method further comprises: analyzing the image to obtain image orientation data comprising a direction from which the image was taken relative to the target; and determining a direction from which the image was taken in the defined space by combining the image orientation data and the defined space orientation data.
Preferably, the present invention provides a method wherein the image includes a second target and the reference point represents the second target.
Preferably, the present invention provides a method wherein the target is reflective and the method further comprises; causing a light source to illuminate the target for the purpose of obtaining an image of the target.
Preferably, the present invention comprises obtaining a first image from a given location and in the absence of the light source illuminating the target such that that target is less apparent in the image; obtaining a second image from the given location and with the light source illuminating the target such that the target is more apparent in the image; and obtaining the image of the target by subtracting the first image from the second image.
Preferably, the present invention further comprises using the identification data to access a database entry comprising the target location data. Preferably, the present invention further comprises wherein the target is a barcode.
Preferably, the present invention provides wherein the defined space is a store and the reference point represent a shopping cart.
Optionally the identification data is used to access a database entry which comprises the target location data. Alternatively the identification data encodes target location data,
Preferably the target is a barcode target is a barcode which is decodes to obtain the identification data.
Note that for example the at least one processor may comprise microprocessor for analyzing the image and a data processor for using the identification data determining the location of the reference point. Optionally the data processor is remote from the microprocessor and the apparatus further comprises a communication device for sending the identification data and image displacement data from the micro processor to the data processor for using the identification data. Optionally the apparatus further comprises an illumination device for illuminating the target. For example, if the target is reflective the image can be taken whilst the target is reflecting light from the communication device.
Optionally the invention further comprises a shopping cart onto which the image capture device and a processor for analyzing the image are mounted.
Preferably, the present invention further an apparatus comprising: an illumination device for illuminating the target.
Preferably, the present invention provides an apparatus wherein the illumination device is capable of outputting a plurality of levels of illumination and the processor which analyzes the image further varies the level illumination output from the illuminating device.
Preferably, the present invention provides an apparatus wherein the image capture device is a video camera and the apparatus further comprises: a comparator for receiving the image from the image capture device and outputting a binary signal for each pixel of the image, based on a predetermined brightness level of the pixel, for converting the image from the image capture device; and a video sync separator for indicating binary signals which indicate the start of an image frame and binary signals which indicate the start of a new image line.
Preferably, the present invention provides an apparatus wherein the processor which analyses the image varies the predetermined brightness level to improve image analysis characteristics.
Preferably, the present invention provides an apparatus further comprising: a communication device for sending the identification data and image displacement data to the processor for using the identification data.
Preferably, the present invention provides an apparatus further comprising a shopping cart onto which the image capture device and processor for analyzing the image are mounted.
Viewed from a fourth aspect the present invention provides a computer program loadable into the internal memory of a digital computer, comprising software code portions for performing, when said product is run on a computer, to carry out the steps of the method as described above. According to a fifth aspect the present invention provides a defined space comprising: a plurality of spaced apart targets distributed around the defined space, each barcode encoding identification data which can be use to determine the location in the defined space of the target; and an apparatus according to the third aspect.
For example the surface could be a ceiling. For example the defined space could be a store. Brief Description of the Drawings
Embodiments of the invention are described below in detail, by way of example only, with reference to the accompanying drawings in which: Figures la-Id illustrates barcode retro-reflective targets according to the preferred embodiment of the present invention;
Figure 2 illustrates an example of a store ceiling (as viewed from the floor looking up at the ceiling) according to the preferred embodiment of the present invention;
Figure 3 is a schematic diagram of a system which is used to obtain and interpret an image of a retro-reflective barcode target according to the preferred embodiment of the present invention;
Figures 4a and 4b are illustrations of an example image (as viewed from the floor looking up at the ceiling) taken of a barcode retro-reflective target, by the system of figure 3, according to the preferred embodiment of the present invention;
Figure 5 is a flow diagram of a method performed by the system of figure 3 used to obtain and interpret an image of a retro-reflective barcode target according to the preferred embodiment of the present invention;
Figure 6 is a flow diagram of a method which is a more detailed description of a method step from figure 5 for analyzing an obtained image;
Figure 7 is a diagram (as viewed from the floor looking up at the ceiling) to illustrate the orientation scheme used in the preferred embodiment of the present invention;
Figure 8 is the image of figure 4 with additional markings used to describe the calculations used to analyze an image of a barcode. All distances and coordinates in fig. 8 are in image units;
Figure 9 is the image of figure 8 rotated and with additional markings used to describe the calculations used to analyze an image of a barcode. All distances and coordinates in fig. 9 are in physical units; Figures lOa-lOc are illustrations of further example images taken by the system of figure 3 according to the preferred embodiment of the present invention; and
Figure 11 is an illustration of an example image containing two barcodes taken by the system of figure 3 according to the preferred embodiment of the present invention.
In the preferred embodiment of the present invention, the location of a shopping cart in a store is determined using retro-reflective barcode targets which are affixed to the ceiling of the store. An image of a barcode target is obtained using a camera mounted on the shopping cart such that a position in the image represents the cart location. The image is then analyzed to read the barcode and determine image positional data and image orientation data. The image positional data comprises "Cart/Barcode Image Polar Coordinates" which are the polar coordinates (in the image) of the cart relative to the barcode. The "Cart/Barcode Image Polar Coordinates" comprise the "Cart/Barcode Image Angle" which is the angle from the cart to the barcode target in the image, and the "Cart/Barcode Image Radius" which is the distance in the image (in image units) from the cart to the barcode target. The image orientation data comprises "Cart/Barcode Image Orientation" which is the direction in which the cart is pointing relative to the barcode. A decode of the barcode target is then used to access a database and obtain "Barcode/Store Orientation" and "Barcode/Store Location", which are the physical orientation and location data for the barcode target in the store. The physical orientation and location data are then combined with the image positional data to determine "Cart/Store Location" and "Cart/Store Orientation" (the physical position and orientation of the cart in the store relative to a reference point and a reference line defined for the store) . This will now be described in detail with reference to figures 1 to 9. Figs Ia and Ib show the basic building blocks of a barcode retro-reflective target (barcode) according to the preferred embodiment of the present invention. Fig. Ia shows two retro-reflective sections 101 separated by a non retro-reflective section 102 which is the same width as each retro-reflective section 101. The distance of separation of the two retro-reflective sections 101 encodes a bit which in this case is a "0" bit. Fig. Ib shows two retro-reflective sections 101 separated by a non retro-reflective section 103 which is the double the width of each retro-reflective section 101. This distance of separation of the two retro-reflective sections 101 encodes a "1" bit. Note that by separating each retro-reflective section by a length which is relative to the length of a retro-reflective section, for example, the length of an adjacent retro-reflective section provides a distance reference which can be used for determining the distance of separation between two retro reflective sections. This can be useful, for example, when an image of a barcode is taken using a wide angle lens or the barcode is mounted on a curved surface .
Fig Ic shows an example barcode using the basic building blocks of figs Ia and Ib. However, the first element of the barcode is a double length retro-reflective section 104 which is termed a sync symbol. The elongate nature of this section is used to identify the start of the barcode and further, because its length is double that of a standard retro-reflective section, its length can be used to determine the length of a standard retro-reflective section which can be useful when interpreting some images of a barcode. The rest of the barcode alternates between non retro-reflective sections and standard width retro-reflective sections. The non retro-reflective sections define the bits and in this example the sections are a short section 102, followed by a long section 103, followed by two short sections 102 and accordingly the barcode of fig. 2c defines a bit string of "0100".
Fig Id is an illustration of the example barcode of figure Ic as it would be seen in a picture taken according to the preferred embodiment of the present invention. In this figure the retro-reflective sections (114, 111) reflect infrared (IR) light whereas the non retro-reflective sections (112,113) do not. Accordingly the value encoded by the barcode is determined based on the distance of separation of reflected IR light sections in a picture taken of the barcode. In the preferred embodiment of the present invention retro-reflective barcodes are attached to appropriate places on the ceiling of a store. Fig. 2 illustrates this for an area of an example ceiling, as viewed form the floor looking up at the ceiling. The area of ceiling 200 comprises ceiling tiles 201 which are held up by a metal framework which fills the gaps between the tiles. Attached to the ceiling are lights 202 and retro-reflective barcodes 203, 204, 205, 206. The barcodes are backed by a magnetic strip for easy attachment to the ceiling and are placed apart from lights 202 to avoid optical interference in an image taken of the barcodes. Each barcode encodes a different number as described with reference to figures la-Id. Barcode 203 starts with elongate section (sync symbol) 207 and comprises non-reflective sections which encode "0001". Similarly barcodes 204, 205, and 206 encode "0010", "0011" and "0100" respectively such that each barcode is uniquely identifiable and may be associated, for example, in a database with an entry which records the physical orientation and location of the barcode within the store. Note that the orientation of each barcode is different, however, this is not problematic due to the elongate sections 207, 208, 209 and 210 marking the start of each barcode.
Further note that one or more of the non-reflective sections of a barcode may comprise an area of VELCRO material to enable easy removal of a barcode using, for example, a pole with a complementary VELCRO material at one end. Fig. 3 is a schematic diagram of a system 300 for mounting on a shopping cart and which is used to obtain and interpret an image of a retro-reflective barcode target according to the preferred embodiment of the present invention. The system 300 comprises an Infrared (IR) LED illuminator 302 which is used to broadcast IR light for reflection from a retro-reflective barcode target, for example barcode 301. An image of any reflected light is obtained with a monochrome video camera 303 through an IR-pass visible-block optical filter 304. The filter is used to reduce non-IR light but allow IR light, such as that from IR LED illuminator 302 which is reflected by barcode 301, to pass to the video camera 303.
Optionally microcontroller 307 further controls Infrared LED
Illuminator 302, turning it off when it is not needed, and controlling the brightness of Infrared LED Illuminator 302 to send just enough IR illumination to sufficiently illuminate the barcode 301, thereby conserving power.
Optionally microcontroller 307 controls a threshold voltage for Analog Comparator 305 to fine tune the image, to enable a barcode, such as barcode 301, to be better distinguished from other IR light sources in an image .
Fig. 4a is an illustration of an image, by reference to figure 2, of retro-reflective barcode target 206 taken from shopping cart 211, using a camera mounted to the rear of the cart (pointed vertically upwards toward the ceiling and orientated such that in an image the cart points from the bottom centre to the top centre of the image) , for example video camera 303 of the system of figure 3. Note that in figure 4a, and in all other figures with an illustration of an image, the illustration is effectively a negative of an actual image, that is, in an image taken by monochrome camera 303, of figure 3, the dark areas shown in the illustration would appear light and the light areas shown in the illustration would appear dark. Further, the cross-hair in the centre of the image is not part of the image but indicates the center of the image used by the system as a reference point for which a physical location is to be determined (i.e.: the location of the camera/cart in the store) . In other words, the cross hair is the location in the image which is directly over the camera. From the image, the barcode is determined to encode the value "0100" (or 4) and this value is used as index into a database to obtain an entry which provides the physical orientation and location of the retro-reflective barcode 301 in the store.
Figure 4b is the image of figure 4a but with an illustration of the shopping cart 211 (re: figure 2) from which the image of figure 4a was taken. The view of shopping cart 211 in Fig. 4b is also shown from the floor, looking up through the bottom of the cart to the ceiling. The shopping cart has a camera 411mounted to its rear (pointed vertically upwards) for taking the image and accordingly the location of camera 411 in image 4b coincides with the location of the cross hair 400 in figure 4a. Due to the orientation of the camera relative to the shopping cart, the direction in which the cart is pointing in figure 4b (i.e.: when the image of figure 4a was taken) is along a vertical line through the centre of the image. Note that the barcode and orientation of the shopping cart 211 in figure 4b matches that of barcode 206 and shopping cart 211 in figure 2.
In the preferred embodiment of the present invention, data which describes the physical location and orientation of the barcode in the store is stored in a database. This data comprises the physical/store location of the center of the synch symbol and the physical/store orientation of the barcode along its length (for example angle 902 in fig 9) . The physical/store location comprises X and Y coordinates, in an appropriate physical unit system, relative to a reference point in the store, for example reference point 220 of figure 2. In the preferred embodiment the units are meters but in other embodiments other units may be used, for example feet or ceiling tiles. The physical/store orientation is an angle relative to a store reference line, for example store wall 221 of figure 2. For example, the orientation may comprise a value between 0 and 360 degrees. Optionally the physical location data may comprise additional data which may be useful in subsequent calculations, for example, the length of the sync symbol, the length of the barcode, and the height of the barcode.
At step 502 the image is analyzed to obtain and decode the retro reflective barcode target and to determine image positional data and image orientation data relating to the relative position of the barcode and cart in the image. The image positional data comprises the angle and distance (in image units) from the barcode to the cart, and the image orientation data comprises the direction in which the cart is pointing relative to the barcode .
The orientation of the barcode in the image will be referred to as "Barcode Image Orientation". This is the angle in degrees between a line through the long dimension of the bar code and a first image reference line which is a horizontal line through the image and through the centre of the sync symbol.
The direction in which the cart is pointing relative to the barcode in the image is the "Cart/Barcode Image Orientation". This is the angle between a line through the long dimension of the bar code and a second image reference line which represents the direction the cart is pointing relative to the image. In the preferred embodiment the camera is mounted on the shopping cart in such a manner that the second image reference line runs vertically to the image.
The angle and distances from the barcode to the relative position of the barcode to the cart are the "Cart/Barcode Image Angle" and
"Cart/Barcode Image Radius" respectively. The "Cart/Barcode Image Angle" is the angle between a line through the long dimension of the bar code and a third reference line which runs from the location of the image reference point (cross hair) 400 to the centre of the barcode's sync symbol. The "Cart/Barcode Image Radius" is the distance (in image units) from the location of the image reference point (cross hair) 400 to the centre of the barcode's sync symbol. The image reference point is the location in the image which represents the location of the shopping cart, and is a point directly above the camera 303 on shopping cart 211. Together the "Cart/Barcode Image Angle" and the "Cart/Barcode Image Radius" make up the "Cart/Barcode Image Polar Coordinates".
The orientation of the barcode in the store is the "Barcode/Store Orientation". This is the angle between a line through the long dimension of the bar code and a reference line in the store, for example store wall 221 of figure 2
The physical location of the barcode is the "Barcode/Store
Location". This is the (X, Y) coordinates (in store units) of the location of the centre of the sync symbol relative to a store reference point, for example store reference point 220 of figure 2.
At step 504, orientation of the cart in the store is determined. This will be referred to as "Cart/Store Orientation" and is determined from a combination of the "Barcode/Store Orientation" with the "Cart/Barcode Image Orientation".
At step 505, the location of the cart in the store is determined relative to a reference point in the store, for example reference point 220 of figure 2. This will be referred to as the "Cart/Store Location" and is determined by combining the "Barcode/Store Orientation", the "Barcode/Store Location" and the "Cart/Barcode Image Polar Coordinates". However the "Cart/Barcode Image Radius" of the "Cart/Barcode Image Polar Coordinates" must first converted from image units to store units.
A breakdown of step 502 and the calculation of steps 502, 504 and 505 will now be described further below with reference to figures 6, 7, 8, and 9.
Fig. 6 is a flow chart of the method step of 502 of figure 5, in which a binary image is analyzed to identify and decode the retro-reflective barcode target, and further to determine image positional data relating to the barcode and cart position (centre of the image) . At step 601 rows of the binary image are scanned from left to right to identify suitable objects. Objects are identified as a grouping of adjacent bright pixels surrounded by dark pixels. During the scan, a run length encoder (RLE counter) is started when a bright pixel follows a dark pixel and stopped at a first subsequent dark pixel. If the RLE counter is outside a predetermined range which represents an acceptable width of a barcode element the row of bright pixels, and any other adjacent bright pixels, are ignored because the object which they represent is too large or too small to be part of a barcode. Further if an object contains a number of pixels which is not within a pre-determmed range, the object is ignored because it is too small or large to be a barcode segment. Once all of the of pixels, that is entire image, has been processed a binary image has been obtained which comprises only objects (set bits) which are considered suitable for a barcode segment.
At step 602 the geometric centre of each suitable object is determined in terms of pixel coordinates from a bottom left corner of the image .
At step 603 the geometric centre of each suitable object is used it create a line segment between neighboring objects and identify candidate barcode segments. A line segment measures the distance between two objects and objects are identified as candidate barcode segments if the length of the line segment between them is within a pre-determmed range.
At step 604 a candidate barcode is identified by assuming that the largest candidate barcode segment is a sync symbol (104 of fig. Ic) . The sync symbol is then used as an anchor point to string together neighboring barcode segments into a candidate barcode. Neighboring barcode segments are located by scanning the created binary image left to right and top to bottom from the sync symbol.
Finally, at step 606, the direction in which the cart is pointing relative to the barcode ("Cart/Barcode Image Orientation") and the polar coordinates (in the image) of the cart relative to the barcode ("Cart/Barcode Image Polar Coordinates") , are calculated for use in steps 504 and 505 of figure 5
Note that in the method of figure 6 several pre-determined ranges are used, namely: a predetermined range which represents an acceptable width of a barcode element; a pre-determmed range for the number of pixels in an acceptable object; and a predetermined range for the length of a line segment. In the preferred embodiment these ranges are obtained empirically, based on a number of barcode images. For example, if the method of figure 6 is run for several images the data for valid identified barcodes can be used to determine suitable ranges.
The calculations of steps 504, and 505 of figure 5, and step 606 of figure 6, are now described by way of example with reference to figures 7, 8 and 9.
Figure 7 illustrates the slope (angle) scheme used in the preferred embodiment of the present invention, for example, to determine a value for the store orientation of a barcode or shopping cart with respect to a reference wall of a store, for example store wall 221 (also shown in figure 2) . The figure shows a barcode 701 comprising a sync symbol 702 and a last barcode segment 703. The orientation of the barcode in which it is parallel to the store wall 221 with the sync symbol to the left, as shown in the figure, is considered to be 0 degrees. If the barcode is rotated anti-clockwise about the centre of the sync symbol 702, the center of the last barcode segment describes circle 704, which may be split into 4 quadrants 705,706,707,708. In each of these quadrants the relative signs of X and Y are shown where X and Y represent the value of the x and y coordinates of the centre of the end segment 703 with the x and y coordinates of the center of the sync symbol 702 subtracted, respectively. Accordingly because trigonometric functions will only provide angle calculations for +/- 90 degrees, angles calculated relative to horizontal will need to be adjusted by +180 degrees in quadrants 706 and 707 and +360 degrees in quadrant 708.
Figure 7 also shows a shopping cart 705 which is also oriented 0 degrees relative to store wall 221. At 0 degrees the cart is parallel to store wall 221 with the front of the cart to the right and the rear of the cart to the left. Accordingly, when compared to barcode 701, in order to determine the quadrant of the cart orientation the front of the cart is equivalent to sync symbol 702 and the rear of the cart is equivalent to the last barcode segment 703. As a result if the cart is rotated anti-clockwise about the centre of the front of the cart, the center of the rear of the cart will describe circle 704, which is split into 4 quadrants 705,706,707,708.
Figure 8 shows an image (800) which is the image of figure 4a but with additional markings which will be used to explain the calculations performed to obtain orientation and location data in relation to the image before applying physical location data of the barcode. Accordingly, with reference to figure 2, this image is of retro-reflective barcode target 206 taken from shopping cart 211 and is thus a view from the camera looking up at the ceiling. All points in figure 8 are referenced by (X, Y) coordinates (in image units) relative to the origin of the image, which is the lower left corner of the image. To ease understanding, figure 8 also shows the position of physical reference line (store wall) 221 relative to the image .
In figure 8, point (Xl, Yl) is the position in the image from which the image was taken (i.e.: the position of the shopping cart), point
(Xs, Ys) is the position of the centre of the sync symbol of the barcode in the image, and point (Xe, Ye) is the position of the center of the last segment of the barcode. The points are determined based on their pixel location relative to the bottom left corner (0,0) of the image. Further the line from (Xl, Yl) to (Xl, Ys) runs vertically through the image and represents the direction in which the shopping cart was pointing when the image was taken. The figure also shows the position of store wall 221 relative to the image.
The orientation and location data to be calculated from the image comprises angles 802 and 804 (in degrees) , and distance 805 (in image distance units) . Angle 802 is the "Cart/Barcode Image Orientation" in degrees and angle of the direction in which the cart is pointing relative to the barcode . Angle 804 is the "Cart/Barcode Image Angle" which is the angle from the cart to the barcode target. Distance 805 is the
"Cart/Barcode Image Radius" which is the distance in the image (in image units) from the cart to the barcode target. Angle 804 and distance 805 make up the "the "Cart/Barcode Image Polar Coordinates" and are the polar coordinates (in image distance units) of the centre of the image relative to the centre of the sync symbol and a line through the long dimension of the bar code. Angle 802 ("Cart/Barcode Image Orientation") is the direction the cart is pointing relative to the barcode and is the angle between a vertical line through the center of the image (Xl, Yl) (which represents the direction the cart is pointing relative to the image) and a line which runs along the length of the barcode. To determine angle 802, angle 801 is first determined. Angle 801 is the "Barcode Image Orientation" and represents the angle between a line which runs along the length of the barcode and a horizontal line in the image which runs through the center of the sync symbol based on the scheme described with reference to figure 7. Angle 801 is determined using the position of the centre of the sync symbol (Xs, Ys) and the position of the centre of a different barcode element, in this example, that of the last or end barcode element (Xe, Ye) . Using these two positions, angle 801 is calculated using basic trigonometry by considering a right angled triangle defined by points (Xs, Ys) , (Xe, Ye) and (Xe, Ys) . For example, to adhere with the scheme of figure 7 (coordinates of the different barcode element are subtracted from those of the sync symbol) the angle 801 can be calculated using the equation tan"1 ( (Ye-Ys) / (Xe-Xs) ). Further (Ye-Ys) and (Xe-Xs) are both negative and as a result the angle is in quadrant 707 of figure 7. Thus it is necessary to adjust the calculated angle by +180 degrees. Once angle 801 is known, angle 802 is determined based on the fact that the sum of angles adjusted 801 and 802 is 270 degrees. Note that sum of angle 801 and 802 is 270 degrees because the angle is between the horizontal reference line which runs through the centre of the sync symbol and the line from Xl, Yl vertically up the image to the horizontal line, in figure 7 this corresponds to 270 degrees.
Angle 804 is the angle between a line from the centre of the image to the center of the sync symbol and a line which runs along the length of the barcode. To determine angle 804, angle 803 is first determined. Angle 803 is the angle between a horizontal line in the image which runs through the center of the sync symbol and a line which runs from the centre of the image to the centre of the sync symbol. Using the same trigonometric principles used to determine angle 801, angle 803 can be calculated using the equation tan-1 (Yl-Ys) / (Xl-Xs) adjusted by +180 degrees. Once angle 803 is known angle 804 is calculated as the difference between angles 803 and 801.
Finally, distance 805 represents the distance (in image distance units) from the shopping cart to the centre of the sync symbol and is the length of the line from the center of the image (Xl, Yl) and the center of the sync symbol (Xs, Ys) . This can be determined using basic trigonometry using the right angled triangle defined by points (Xl, Yl), (Xs, Ys) and (Xl, Ys) . For example distance 805 can be calculated from the equation (Ys-Yl) / (sin (angle 803)).
Note that in figure 8 the angles 802 and 804 are approximately 65, and 45 degrees respectively. Further note that in the preferred embodiment of the present invention the units of the X and Y co-ordinates of the images are pixels.
Figure 9 is figure 8 which has been rotated such that physical reference point 220 is at the lower left of the figure and physical reference line (store wall) 221 is a horizontal line along the bottom of the figure. This rotation causes the barcode in fig. 9 to match the orientation of the barcode in the store. The barcode in figure 9 is barcode 206 of figure 2 which, according to the scheme of figure 7, can be seen to be orientated at 90 degrees relative to store wall 221.
Further figure 9 includes markings which will be used to describe how the "Cart/Store Location" and "Cart/Store Orientation" are determined. Accordingly, in figure 9 the co-ordinate markings are based on store locations relative to reference point 220. Comparing with figure 8, point (Xs, Ys) , the location of the sync symbol, is now point (Xb, Yb) the "Barcode/Store Location" and point (Xl, Yl) is now point (Xc, Yc) the
"Cart/Store location". Further distance 805 is now distance 805', which is distance 805 but scaled from the units of the image co-ordinate system to the units of the store co-ordinate system. Angles 802 and 804 are the same as those of figure 8 because these are preserved in the rotation. Angle 902 is the "Barcode/Store Orientation" and angle 901 is the
"Cart/Store Orientation". It is required to determine the value of (Xc, Yc) and angle 901.
The "Cart/Store Orientation" (angle 901) in degrees is obtained by combining the "Cart/Barcode Image Orientation" (angle 802) with the
"Barcode/Store Orientation" (angle 902) . The "Barcode/Store Orientation" is obtained by either using the decode of the barcode to index into a database or from information which is encoded directly in the bar code. Note that angle 802 will be zero or 180 degrees if the shopping cart is aligned parallel with the bar code. Accordingly:
"Cart/Store Orientation" = "Cart/Barcode Image Orientation" + "Barcode/Store Orientation" or
Angle 901 = Angle 802 + Angle 902
The "Cart/Store Location" in units of the store coordinate system is determined by combining the "Barcode/Store Orientation", the
"Barcode/Store Location", and the "Cart/Barcode Image Polar Coordinate" scaled from image units to store co-ordinates units.
Distance 805 ("Cart/Barcode Image Radius) "of figure 8 is scaled to distance 805' of figure 9 by converting the distance 805 from the units of the image (e.g.: pixels) to the units of the store co-ordinate system (e.g.: meters) . Accordingly distance 805' is referred to as the "Cart/Barcode Store Radius". For example, if the length of a sync symbol is known in both sets of units the scaling factor may be determined from them. In this case, the length of a sync symbol is stored in the database with the barcode physical location data, and the length of the sync symbol in pixel units determined from the image. Alternatively the length of any aspect of the barcode which is known or can be determined in both sets of units may be used, for example the length of a segment or the entire barcode.
The relative displacement of the "Cart/Store Location" (Xc, Yc) from the "Barcode/Store Location" (Xb, Yb) is now known but in polar co-ordinates ("Cart Barcode Store Polar Coordinates") . The polar coordinates (angle, radius) comprise Angle 903 ("Cart/Store Angle") and distance 805' ("Cart/Barcode Store radius") , where angle 903 is angle 804 ("Cart/Barcode Image Angle") + angle 902 ("Barcode/Store Orientation") , . However in x and y co-ordinates of the store system, the displacement may be expressed as ( (Xc-Xb) , (Yc-Yb) .
X = r cos (h) Y = r sin (h) where h is the angle, and r the radius, of the polar coordinates.
Accordingly for the displacement of the "Cart/Store Location" (Xc, Yc) from the "Barcode/Store Location" these equations may be rewritten, with X as (Xc-Xb) , Y as (Yc-Yb) , r as distance 805'
("Cart/Barcode Store Radius") , and h as angle 903 ("Cart /Store Angle") , as follows :
(Xc-Xb) = distance 805' * cos (angle 903) (Yc-Yb) = distance 805' * sin (angle 903)
and therefore the "Cart/Store Location" coordinates (Xc, Yc) can be determined from:
Xc = Xb + distance 805' * cos (angle 903) Yc = Yb + distance 805' * sin (angle 903)
where (Xb, Yb) is the "Barcode/Store Location" and angle 903 is angle 804 ("Cart/Barcode Image Angle") + angle 902 ("Barcode/Store Orientation") .
Accordingly the "Cart/Store Location" (Xc, Yc) and "Cart/Store Orientation" (angle 901) of the shopping cart form which the image of figure 4 was taken has been determined.
Note that the size of the each section of the barcode and the overall length of the barcode may vary according to the application. For example the size may be determined according to the expected distance of the camera from the barcode when an image is taken, the resolution of the camera used and the capabilities of software used to interpret the image to locate a read the barcode. For example, based on a typical shopping cart that would hold the camera 4 feet over the floor, camera to bar code distance (related to store ceiling height) of 8-12 feet, and use of an image of 640x480 pixels camera (VGA format) , a section size of 3/4 inches by 3/4 inches has been found to work well. Further this size is compatible with the typical metal frame used with suspended ceilings. A higher ceiling may be accommodated by increasing the IR illuminator (302 of figure 3) brightness and/or increasing the size of retro-reflective sections (101 of figure 1) and/or increasing the resolution of the camera.
Figures 10a, 10b and 10c are illustrations of images which may be used in an extension to the preferred embodiment of the present invention. This involves use of several images to reduce light interference in an image of a retro-reflective barcode target which is useful, for example, in situations where such interference is problematic. Figure 10a shows a first image which was taken without an infrared light used to illuminate a retro-reflective target and as a result the image includes only background light data. This example is intended to show a fluorescent light 1001 in the lower right corner of the image. Figure 10b then shows an image from the same position but which was taken with an infrared light on and as a result the image includes both the background light and infrared light reflected by the retro-reflective barcode target 1002. This permits image 10c to be obtained, which is the image of figure 10b but with the background data from the image of figure 10a subtracted. As a result, the image of figure 10c includes only the reflected infrared light which in this example is only the infrared light reflected by the retro-reflective barcode target. Accordingly interference in image 10a has been removed.
Figure 11 illustrates an image including two retro-reflective barcode targets. In another extension to the preferred embodiment of the present invention, such an image is used to calibrate a newly installed, or recently modified, barcode arrangement. If the location (X and Y coordinates) of a first barcode 1101 is known the location of a second barcode 1102 can be determined by measuring the number of X and Y pixels between the first and second barcode, and multiplying the pixel lengths by the scaling factor (e.g. inches per pixel) . Accordingly, if the location in a store of a barcode is known, the location of any barcode which can be included in an image of that barcode can be determined. This process may then be repeated for any barcode with a determined location and as a result, if the barcodes are placed suitably throughout the store, the location of every barcode can be determined provided the location of at least one barcode is known. For example, with reference to figure 3, if the location of barcode 203 is known and an image is taken which includes barcodes 203 and 205, the position of barcode 205 can be determined. Then, if an image is taken which includes barcodes 205 and 206, the position of barcode 206 can be determined. This process can then be repeated to determine the position of barcode 204 and further in a large store could be used to determine the position of all barcode in a store. If a barcode does not simultaneously appear in the image with a barcode of known location, other objects that are captured by the imager (including lights) can be used as waypomts, that is the X and Y distance of a way point to a barcode of known location is measured, and added to the X and Y distance of the way point to a barcode of unknown location. Further, with reference to Figure 7, in another extension to the preferred embodiment of the present invention, the image is used to check the calibration of the system. For example if the location of both retro-reflective barcodes are known, one of the retro-reflective barcodes may be used to determine the location of the other. The determined location may then be compared with the known location of the other retro-reflective barcodes to check whether the determined position is accurate .
Further provided it is possible to identify and encode a barcode target in some applications: use of retro-reflective and non retro-reflective sections may not be required and alternatively different colors may be used. For example this may depends on such things as the light conditions when an image is taken, the resolution of the camera used, and or the capability of the software used for distinguishing objects .
Note in an alternative embodiment, system 300 of figure 3 could be, for example, mounted in a known fixed position and a retro-reflective barcode target attached to a shopping cart or other mobile device. Based on an image taken of the barcode target, it would be possible to determine a position of the cart/mobile device. Further, for example, the components of system 300 may vary, indeed any system capable of capturing and analyzing an image could be used. For example a color video camera could be used or alternatively a digital camera which is directed by the microcontroller as to when to obtain an image. Note that if a digital camera is used, the analog comparator 305 and video sync separator 306 are not required and conversion of the image to a binary image may be performed by the microprocessor or by digital logic.
Further note with reference to figures 5 and 6 the order of some of the steps may be varied and further some steps could be processed elsewhere. For example, in figure 5 the order of steps 505 and 506 may be reversed and further steps 504 and 505 are optional.
Further note that a skilled person will realize many alternatives to the calculation described for determining the location and orientation if a shopping cart as described with reference to figures 6, 7 and 8.
Further note that whilst the preferred embodiment of the present invention has been described in terms of determining the location of a shopping cart in a store a skilled person will realize that in other embodiments the present invention could be used to determine the position of a moveable object within a defined area, for example, a car in a parking lot. This method could be used with existing cameras located in known locations. For example, it could be used with existing security cameras .
1. A method comprising: obtaining an image of a target in a defined space; analyzing the image to obtain identification data and image positional data, the image positional data comprising a position in the image of a reference point relative to the target; using the identification data to obtain target location data comprising a location of the target in the defined space; and determining the location of the reference point in the defined space by combining the image positional data and the target location data.
2. A method of claim 1 wherein the reference point represents the location from which the image was taken.
3. A method of claim 2 wherein the location data further comprises defined space orientation data for the target in the defined space and the method further comprises: analyzing the image to obtain image orientation data comprising a direction from which the image was taken relative to the target; and determining a direction from which the image was taken in the defined space by combining the image orientation data and the defined space orientation data.
4. A method of claim 1 wherein the image includes a second target and the reference point represents the second target.
5. A method of claim 1 further wherein the target is reflective and the method further comprises: causing a light source to illuminate the target for the purpose of obtaining an image of the target.
6. A method of claim 5 further comprising: obtaining a first image from a given location and in the absence of the light source illuminating the target such that that target is less apparent in the image; obtaining a second image from the given location and with the light source illuminating the target such that the target is more apparent in the image; and obtaining the image of the target by subtracting the first image from the second image.
7. A method of claim 1 further wherein using the using the identification data comprises using the identification data to access a database entry comprising the target location data.
8. A method of claim 1 wherein the target is a barcode.
9. A method of claim 8 wherein the defined space is a store and the reference point represent a shopping cart.
10. An data apparatus comprising: an image capture device for obtaining an image of a target which encodes identification data; and at a least one processor for: analyzing the image to obtain the identification data and image positional data, the image positional data comprising a position in the image of a reference point relative to the target; using the identification data to obtain target location data comprising a location of the target in the defined space; and determining the location of the reference point in the defined space by combining the image positional data and the target location data.
11. An apparatus of claim 10 further comprising: an illumination device for illuminating the target.
12. An apparatus of claim 10 wherein the illumination device is operable for outputting a plurality of levels of illumination and analysing the image further in order to vary the level illumination output from the illuminating device
13. An apparatus of claim 10 wherein the image capture device is a video camera and the apparatus further comprises: a comparator for receiving the image from the image capture device and outputting a binary signal for each pixel of the image, based on a predetermined brightness level of the pixel, for converting the image from the image capture device; and a video sync separator for indicating binary signals which indicate the start of an image frame and binary signals which indicate the start of a new image line.
14. An apparatus of claim 13 wherein the comparator further comprises analysing the image in order to vary the predetermined brightness level to improve image analysis characteristics.
15. An apparatus of claim 10 further comprising: a communication device for sending the identification data and image displacement data to the processor for using the identification data.
16. An apparatus of claim 10 further comprising a shopping cart onto which the image capture device and processor for analyzing the image are mounted.
17. A computer program loadable into the internal memory of a digital computer, comprising software code portions for performing, when said product is run on a computer, to carry out the steps of the method as claimed in claims 1 to 9.
PCT/EP2006/070087 2006-01-05 2006-12-21 Mobile device tracking WO2007077151A2 (en)
US11/325,952 US7681796B2 (en) 2006-01-05 2006-01-05 Mobile device tracking
US11/325,952 2006-01-05
ES06830783.4T ES2476424T3 (en) 2006-01-05 2006-12-21 Mobile device tracking
JP2008548974A JP2009522563A (en) 2006-01-05 2006-12-21 Mobile device tracking
WO2007077151A2 true WO2007077151A2 (en) 2007-07-12
WO2007077151A3 WO2007077151A3 (en) 2007-11-01
PCT/EP2006/070087 WO2007077151A2 (en) 2006-01-05 2006-12-21 Mobile device tracking
TW (1) TWI411799B (en)
WO (1) WO2007077151A2 (en)
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2006-01-05 US US11/325,952 patent/US7681796B2/en not_active Expired - Fee Related
2006-12-21 CA CA 2636233 patent/CA2636233A1/en not_active Abandoned
2006-12-21 EP EP20060830783 patent/EP1969436B1/en not_active Expired - Fee Related
2006-12-21 CN CN 200680050110 patent/CN101351754B/en not_active IP Right Cessation
2006-12-21 WO PCT/EP2006/070087 patent/WO2007077151A2/en active Application Filing
2006-12-21 ES ES06830783.4T patent/ES2476424T3/en active Active
2006-12-21 JP JP2008548974A patent/JP2009522563A/en active Granted
2007-01-03 TW TW96100139A patent/TWI411799B/en not_active IP Right Cessation
JP2009522563A (en) 2009-06-11
US7681796B2 (en) 2010-03-23
CA2636233A1 (en) 2007-07-12
US20070152057A1 (en) 2007-07-05
EP1969436A2 (en) 2008-09-17
TWI411799B (en) 2013-10-11
ES2476424T3 (en) 2014-07-14
WO2007077151A3 (en) 2007-11-01
TW200813462A (en) 2008-03-16
CN101351754B (en) 2011-04-13
EP1969436B1 (en) 2014-04-09
CN101351754A (en) 2009-01-21
DE102013105929A1 (en) 2014-01-23 Hand-held device for the quantification of component features
EP2914928B1 (en) 2019-08-21 Method and device for determining three-dimensional coordinates of an object
WO2010018009A1 (en) 2010-02-18 3d time-of-flight camera system and position/orientation calibration method therefor
JP4035910B2 (en) 2008-01-23 Car color discrimination device
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