Source: https://patents.google.com/patent/JPWO2005096129A1/en
Timestamp: 2020-01-17 16:37:49
Document Index: 688022951

Matched Legal Cases: ['art 6', 'art 50', 'art 51', 'art 52', 'art 53', 'Application No. 2002']

JPWO2005096129A1 - Method and apparatus for detecting designated position of imaging apparatus, and program for detecting designated position of imaging apparatus - Google Patents
Method and apparatus for detecting designated position of imaging apparatus, and program for detecting designated position of imaging apparatus Download PDF
JPWO2005096129A1
JPWO2005096129A1 JP2006511780A JP2006511780A JPWO2005096129A1 JP WO2005096129 A1 JPWO2005096129 A1 JP WO2005096129A1 JP 2006511780 A JP2006511780 A JP 2006511780A JP 2006511780 A JP2006511780 A JP 2006511780A JP WO2005096129 A1 JPWO2005096129 A1 JP WO2005096129A1
JP2006511780A
修平 上西
2004-03-31 Priority to JP2004102865 priority Critical
2004-03-31 Priority to JP2004102865 priority
2005-03-31 Application filed by 株式会社タムラ製作所 filed Critical 株式会社タムラ製作所
2005-03-31 Priority to PCT/JP2005/006235 priority patent/WO2005096129A1/en
2008-02-21 Publication of JPWO2005096129A1 publication Critical patent/JPWO2005096129A1/en
PROBLEM TO BE SOLVED: To acquire information on positions of marks at four corners of a display even in a situation where four marks are not photographed by including information for estimating positions of other marks in the information of marks. Marks 0 to 3 including index line segments indicating the arrangement directions of other three marks are provided at four corners of a display 1, and these are imaged by an imaging device 1. The position detection unit 5 includes a mark detection unit 51 that extracts a mark from a captured image, a mark type determination unit 52 that determines in which position on the display each captured mark is provided, An index line segment selection unit 53 for discriminating a line segment included in each mark, an unphotographed mark position calculation unit 54 for calculating the position of an unphotographed mark from the intersection of the extension lines of the index line segment, A relative coordinate detector 55 is provided that calculates the relative position between the display and the imaging device based on the position information of the unphotographed mark on the image plane. [Selection] Figure 1
The present invention relates to a method for detecting an indicated position of an imaging apparatus for detecting a relative coordinate on the display at an intersection between an optical axis (or an indicated direction) of the imaging apparatus and a display plane when the display is photographed by the imaging apparatus. In particular, an image pickup device built in a shooting game gun or a pointing device is used to photograph a plurality of marks prepared on the display side, so that the optical axis of the image pickup device is displayed on the display. The present invention relates to a method and an apparatus for detecting which position of an object is indicated.
The present invention also relates to an instruction position detection program for an imaging apparatus for realizing the position detection method and apparatus on a computer.
Conventionally, in a shooting game using a CRT or a liquid crystal display, for detecting the aiming position of a launching device such as a gun aiming at a target or instructing a predetermined position on an image projected on a screen-type display A device using an imaging device is known as a device for detecting a position on a display instructed by the pointing device when the pointing device is used (see Patent Documents 1-3).
This type of device captures marks provided at the four corners of the display serving as a subject, and the relative positions of the captured four corner marks on the image plane change according to the distance and angle between the display and the imaging device. By utilizing this, the direction of the optical axis of the imaging apparatus with respect to the display, that is, the aiming position of the gun on the display and the pointing position of the pointing device are detected.
JP-A-8-71252 JP-A-11-305935 JP 2001-148025 A
The pointing position detection device of this type of imaging device detects the relative position on the display plane indicated by the optical axis of the imaging device using position information on the image plane of the four corner marks photographed by the imaging device. Therefore, when accurate position detection is performed in consideration of projection distortion, the position information of the four corner marks specified on the display is always required. The positions of the marks are not necessarily the four corners of the display as in Patent Documents 1-3, but at least four marks are essential for detection accuracy.
In such a conventional technique, when the aiming or pointing position of the imaging device is determined in the peripheral area of the display, the mark provided on the opposite side is out of the shooting range, and four marks can be projected on the image plane. As a result, the imaging apparatus cannot be positioned. Therefore, in order to make sure that these four marks are captured within the image plane range, the distance between the display and the imaging device needs to be sufficiently large so that the entire display can be seen.
However, increasing the distance between the imaging device and the display leads to an increase in the size of a game machine or the like using the image pickup device, and is particularly inconvenient for an arcade game machine or the like that requires a smaller installation space. . In addition, when a large display is used, the distance between the imaging device and the display becomes larger, and the gun or pointer with the built-in imaging device is operated from a distant position, and the aim is aimed at the desired position on the display. There has been a problem that it becomes difficult to confirm the display contents.
The present invention has been proposed in order to solve the above-described problems of the prior art, and its purpose is to include information for inferring the position of another mark in the mark information, and mark that has not been imaged. The position information of the marks at the four corners of the display can be acquired even in a situation where four marks are not photographed, and the designated position detection of the imaging device is accurately detected based on the four position information. An object of the present invention is to provide a position detection method and apparatus that can be implemented.
Another object of the present invention is a case where the aiming position and the indicated position are directed to the peripheral area of the display by enabling the confirmation of the positions of the marks at the four corners even in a state where all the marks at the four corners of the display are not photographed. It is another object of the present invention to provide a position detection method and apparatus that can accurately detect a designated position of an imaging apparatus.
Still another object of the present invention is to reduce the distance between the imaging device and the display by enabling detection of the indicated position of the imaging device without photographing all the marks at the four corners of the display, thereby reducing the size of the entire device. It is another object of the present invention to provide a position detection method and apparatus capable of improving operability.
The present invention relates to a method for detecting an indicated position of an imaging apparatus using four marks, in which marks are arranged at the four corners of a display, and each mark is a straight line indicating the arrangement direction of the other three marks. The index line segment is provided, and at the time of detection of the indicated position of the imaging device, when four marks are not photographed on the imaging device, at least two taken marks are provided at any position on the display. Processing to detect whether there is a mark that has not been imaged, and to determine the index line segment included in each imaged mark, and the presence of a mark that has not been imaged. The process of calculating the intersection of the line segment extended from each mark, calculating the position of the mark that has not been imaged on this intersection, and the calculated shooting A process for calculating the positions of the four marks on the image plane in the imaging device provided on the display based on the positions of the unmarked marks and the positions of the plurality of photographed marks; And a process of detecting a coordinate position indicated by the optical axis of the imaging device on the display plane based on position information on the image plane.
As another aspect of the present invention, the above method can be grasped as a designated position detection device for an imaging apparatus or a designated position detection program for the imaging apparatus.
According to such an aspect, by including information indicating the direction of other marks in each mark provided at the four corners of the display, that is, index line segments, all marks are photographed on the image plane of the imaging device. Even if not, if at least two marks have been photographed, the index line segment included in the photographed mark is detected, and by extending this index line segment, The position on the image plane can be calculated. As a result, the optical axis of the imaging device on the display plane is the same as when all the marks are photographed based on the position information on the image plane of the unmarked mark calculated by the photographed mark and the calculation. Can be detected.
Another aspect of the present invention relates to a method for detecting an indicated position of an imaging apparatus using two marks, and when the display is photographed by the imaging apparatus, the optical axis of the imaging apparatus on the display and the display plane In the method for detecting the relative coordinates of the intersection point, marks are arranged at two of the four corners of the display, and each mark is a linear index indicating the arrangement direction of the corner of the display where no mark is provided. Line segments are provided, and when the designated position of the imaging apparatus is detected, the positions of the two marks taken on the image plane photographed by the imaging apparatus and the index line segments included in these two marks are determined. Processing and extending the index line segment contained in the two marks in the direction of the corner of the display where no mark is provided. The intersection point of the extended line segment is calculated, and the processing for setting the intersection point on the image plane at the corner of the display where no mark is provided, the calculated position of the display corner, and the taken 2 The process of calculating the positions of the four corner positions of the display on the image plane based on the positions of the two marks, and the position information of the four corner positions of the display on the image plane based on the position information of the imaging apparatus on the display plane. It includes a process of detecting a coordinate position indicated by the optical axis.
According to such an aspect, two marks are provided on the display side, and information indicating the direction of the corner portion where the display mark is not provided, that is, an index line segment is included in each of these marks. The index line segment included in the two marks photographed on the image plane is detected, and the index line segment is extended to calculate the position on the image plane at the corner where the display mark is not provided. can do. As a result, based on the captured mark and the position information on the image plane of the corner of the display calculated by calculation, the display plane is the same as when all the marks provided at the four corners of the display are captured. It is possible to detect the coordinate position indicated by the optical axis of the imaging device above.
According to the present invention, when four marks are installed at the four corners of the display, if any two of the four marks having three index line segments can be imaged, the information is captured from the information of the index line segments. The position of an unmarked mark can be predicted, and the operation range of the image pickup apparatus can be expanded compared to the case where four marks must be picked up.
In addition, when marks are provided in at least two of the four corners of the display, at least two marks provided with index line segments are imaged to display from the information of the index line segments included in these two marks. The position of other corners where no mark exists can be predicted, and the coordinate position indicated by the optical axis of the imaging device on the display plane can be detected based on the position of these marks and the predicted position of the display corner. As a result, the number of marks can be reduced as compared with the case where four marks are provided.
1 is a block diagram showing the configuration of Embodiment 1 of the present invention. The flowchart which shows operation | movement of Example 1 of this invention. Explanatory drawing which shows the principle of mark position estimation of this invention. The front view which shows an example of the mark used for this invention. The enlarged front view of the mark of FIG. The front view which shows the other example of the mark used for this invention. The front view which shows the mark guess position at the time of using the mark of FIG. The front view which shows the deformation | transformation of the captured image by a projection distortion. The front view which shows the deformation | transformation of the mark by a projection distortion. The front view which shows the further another example of the mark used for this invention. The front view at the time of arrange | positioning the mark of FIG. 10 to the display four corners. FIG. 3 is a front view showing a method for discriminating a mark from a captured image in the first embodiment based on a size. The figure for demonstrating the direction category used when performing outline tracking in the mark discrimination | determination of FIG. The figure explaining the method of detecting a triangle in discrimination | determination of the mark of FIG. The figure which shows the detection method of one remaining un-imaged mark, when three marks are detected. The front view of the display which shows the combination, when two marks are detected. The figure which shows the detection method of the remaining two un-imaged marks, when two marks are detected. The figure which shows the method of identifying the vertex of each mark, when two marks are detected. The figure which shows the method of selecting the index line segment used in order to estimate the position of an un-imaged mark, when two marks are detected. The figure which shows the combination of the imaged mark in identifying four marks which consist of the imaged mark and the non-imaged mark. The figure explaining the effect in case two marks provided in the lower part of a display are imaged in the present invention. The figure explaining the effect in case the two marks provided in the left side of the display are imaged in this invention. The figure which shows the method of extracting the mark of FIG. 10 from the captured image when the mark of FIG. 10 is used. The figure which shows the other method of extracting the mark of FIG. 10 from the captured image, when the mark of FIG. 10 is used.
DESCRIPTION OF SYMBOLS 1 ... Display 2 ... Imaging device 3 ... A / D converter 4 ... Frame memory 5 ... Position detection part 6 ... Display control part 50 ... Filter processing part 51 ... Mark detection part 52 ... Mark type detection part 53 ... Index line segment selection 54: Unimaged mark position calculation unit 55: Relative coordinate detection unit
As in the present invention, when projective transformation is used to grasp the relative positional relationship between a display and an image plane photographed by an imaging device as a subject, linearity on the subject and the image plane is out of phase. It is known that a straight line is converted to a straight line by projective transformation. Therefore, if the intersection of the two straight lines A and B is C, the straight line after the projective transformation of the straight lines A and B is A ′ and B ′, and the position of the intersection C after the projective transformation is C ′, then C ′ Is the intersection of A 'and B'. Now, if line information is included in each mark so that the intersection point on the extended line is the position of the opposite mark, if two points on the subject (display) are captured, These two mark positions can be estimated as intersections on the extension line of the line segment.
The present invention utilizes these features,
(1) Expansion of the operation range of the imaging apparatus when four marks are installed.
(2) Reduction in the number of marks installed.
One of the above is made possible.
In this case, since each mark provided on the display has a shape including straight line information, a recognition process corresponding to the shape is required, and a process for estimating the coordinate position of the mark is required as an additional process. In the following, what kind of marks can be considered, their recognition method, and the method of estimating the intersection after recognition are shown. In the following description, the straight line information added to the mark for simplification is hereinafter referred to as “index segment”.
The accuracy of the index line segment is determined by the number of pixels constituting the index line segment (number of edge pixels). In other words, if the index line segment is composed of a small number, the position of the intersection on the straight line becomes uncertain. However, the state in which the four marks cannot be captured is considered to occur when the subject and the image capturing apparatus that is the position recognition unit are close to each other to some extent.
Now, as shown in FIG. 3, marks 0, 1, 2, and 3 are set at the four corners of the display, respectively. At this time, by including information such that the marks 1, 2 and 3 exist on the extension line in the mark 0, it is possible to determine the direction in which the remaining marks exist even if only the mark 0 is captured. To do. Similarly, the configuration of the marks 1, 2, and 3 includes information on a line segment in which a mark other than itself exists on the extension line. However, since it is necessary to discriminate between the mark and other figures, it is necessary to devise the shape of the mark.
Therefore, in the present embodiment, as shown in FIG. 4, the mark has one circular portion (filled portion) inside, a shape surrounded by a triangular frame (marks 0 and 1), and the inside It is assumed that the shape (marks 2 and 3) is surrounded by a square frame with no filled portion. In order to facilitate the extraction of the mark in the image, as shown in FIG. 6, the periphery of the mark is made of a low-luminance material, and the index line segment 1 to the index line segment 3 and the circular portion constituting the mark itself are made high. Consists of bright areas.
With this configuration, the mark figure portion has high contrast in the captured image, and can be easily distinguished from other figures by the density change information. These can be realized by a surface light source or a retroreflective plate using transmitted illumination.
The frame constituting the mark is made up of three straight lines, and each straight line serves as information on the line segment for predicting the position of the mark as described above. In addition, this itself can be a material for distinguishing from other figures. In FIG. 5, the index line segment 1 to the index line segment 3 are line segments indicating directions in which the lower left mark, the lower right mark, and the upper right mark exist, respectively. In addition, in the information of the index line segment, it is not necessary to actually enter the shape of the line segment, and it is sufficient that such information can be extracted from the shape of the mark.
For example, as shown in FIG. 6A, an index line segment can be created by connecting vertices of triangles. in this case,
(a) A set of four points that exist within a certain range.
(b) The convex hull figure is a triangle having a point inside.
(c) High brightness compared to other figures.
It is possible to distinguish other captured images from marks from such information. Further, as shown in FIG. 6B, a frame may be provided on the outer side to distinguish from other figures.
By the way, when the triangular frame-shaped mark is used as described above, the three straight lines included in the mark do not pass through one point on the mark, and thus have the following problems. FIG. 7 is a diagram showing the line segments of the mark and the installation positions of other marks. As can be seen from FIG. 7, in this mark shape, the straight line obtained by the line segment of the mark does not pass through the intersection formed by the other two straight lines, and deviates from the positions of the four points on the subject to be obtained. Therefore, when predicting the mark position from the vertical line segment, a straight line having the same inclination as the vertical line segment and passing through the intersection of the other two straight lines must be considered.
In addition, strictly speaking, as shown in FIG. 8, when an imaging device is arranged at a predetermined angle with respect to the display surface, an image obtained by the imaging device is subject to projective distortion. And in the image which received the projection distortion in this way, as shown in FIG. 9, the image of the mark itself will also be influenced by the projection distortion. Therefore, the direction of the straight line obtained by the line segment of the mark is different from the vertical direction of the subject. As shown in FIG. 7, simply assuming a line segment passing through the intersection of the other two straight lines with the same inclination as the vertical line segment. The position of another mark cannot be estimated accurately. However, whether it is a gun controller for a shooting game or a pointer for a presentation, its focus and pointing position have some tolerance, so use the right triangle mark as described above to find the position of the intersection. By performing the correction of moving the straight line as much as possible, the positions of the four marks on the display can be estimated approximately to the extent that there is no practical problem.
FIG. 10 shows an example of a mark that solves the problems of the right triangle mark as described above, and is configured such that information of three straight line segments included in the mark intersect at one point. . According to the mark having such a shape, the intersection of the three straight lines becomes a specified point installed on the display as shown in FIG. 11, and the error caused by the projective distortion is eliminated. In addition, the mark of this shape can be obtained by changing the relative positions of the three straight lines included in each mark, or by combining a ring-shaped mark on the outer periphery of the radial mark on one side of the display. It is possible to determine at which position of the display is provided.
1. Configuration of Embodiment Hereinafter, an embodiment of the present invention will be specifically described with reference to the drawings.
As shown in FIG. 1, the position detection apparatus of the present embodiment includes a display 1 having an image display surface to be imaged and an imaging device 2 that captures the image display surface of the display 1. As the imaging device 2, a video camera or a digital camera provided with a CCD imaging device is used.
Four marks 0, 1, 2, 3 having different shapes are provided at the four corners of the display 1, respectively. FIG. 4 shows an example of each of the marks 0, 1, 2, and 3. Each mark has a right triangle shape as a whole, and each mark has three lines that indicate the arrangement direction of other marks. Straight line segments (each side of a right triangle) are included. Each of these marks has a different shape so that an arrangement location on the display 1 can be identified. In the present embodiment, a circular filled portion is formed inside the marks 0 and 1 on the left side of the display. It can be determined by the fact that the marks 2 and 3 on the right side are not filled. Further, the marks 0 and 3 at the top of the display 1 have a horizontal straight line located at the lower side of the triangle, and the marks 1 and 2 at the lower side have the horizontal straight line located at the upper side of the triangle.
These marks can be provided by means such as pasting and printing on a frame portion of the display 1, or can be displayed by projecting as an image on the display screen of the display 1. In order to facilitate the extraction of the mark by the image pickup apparatus 2, it is preferable that the periphery of the mark is made of a low-luminance material and the mark itself is made of a high-luminance area. With this configuration, the mark figure portion has high contrast in the image taken by the imaging device 2, and can be easily distinguished from other figures by the density change information. These can be realized by a surface light source or a retroreflective plate using transmitted illumination.
The image pickup apparatus 2 is connected to an A / D converter 3 that uses the image data thus taken as digital image data, and the output of the A / D converter 3 is output to the frame memory 4. The frame memory 4 temporarily stores the A / D converted digital image data for each address corresponding to each pixel on the imaging plane of the CCD imaging device of the imaging device 2. The frame memory 4 analyzes the image data temporarily stored in the frame memory 4 and detects coordinates on the display plane indicated by the optical axis of the imaging device 2 with respect to the image display surface of the display 1. The position detector 5 is provided.
The position detection unit 5 includes a filter processing unit 50 that eliminates a graphic that is unlikely to be a mark from among the graphics that are captured by the imaging device 2 and exist on the image plane, and the graphic that has passed through the filter processing unit 50. And a mark detection unit 51 for determining a mark image. In addition, a mark type determination unit 52 that determines in which position on the display the mark determined by the mark detection unit 51, and three index line segments included in each imaged mark Is provided with an index line segment selection unit 53 for selecting an index line segment extending in the direction of the mark not picked up. Further, the index line segment in the plurality of marks selected by the index line segment selection unit 53 is extended in the direction in which the mark that is not imaged exists, and the intersection of the index line segment extended from each mark is obtained, Based on the position information on the image plane of the unphotographed mark position on the image plane and the unphotographed mark position calculation unit 54 that calculates the position on the image plane of the mark that has not been imaged on the intersection, the display plane A relative coordinate detector 55 is provided for calculating the coordinate position indicated by the optical axis of the image pickup apparatus.
The output side of the position detection unit 5 is connected to a display control device 6 provided in a game machine or a display display device, and relative to the display surface of the imaging device calculated by the relative coordinate detection unit 55 to the display control device 6. Position information is output. In this case, the display control device 6 calculates, for example, coordinates on the display indicated by the center of the imaging device based on the input position information of the imaging device, and displays the aiming point of the shooting game on the coordinates. Or display the pointing point of the pointing device.
2. Details of Operations of Each Unit Next, operations of each unit in the present embodiment having the above-described configuration will be described in more detail.
(1) Filter processing unit 50
As described above, the filter processing unit 50 sets the mark figure to a high contrast so as to distinguish it from other figures based on density change information in the photographed image. Is detected, and a figure with high contrast exceeding a certain threshold is determined as a mark candidate. In this case, by using an infrared transmission filter in the imaging device 2 in advance, the number of figures to be discriminated is limited to some extent as compared with an image in the visible light region, so that the filtering process is more effectively performed. It is also possible to do.
As described above, in the present embodiment, the number of figures to be determined is limited by a sharpening process that enhances the contrast between the mark and other parts, a noise removal process that uses an infrared filter, or the like. These processes are also effective in increasing the efficiency of subsequent processes and reducing the burden on the arithmetic device.
(2) Mark detection unit 51
The mark detection unit 51 determines whether or not an image corresponding to each mark exists in one frame of image data captured by the imaging device, and acquires a position (coordinates) on the captured image plane. To do. That is, since the image captured by the imaging device includes various items other than the mark, the image corresponding to the mark is extracted from these images.
Such processing of the mark detection unit 51 extracts a mark from the captured figure by sequentially executing the following determination processing.
(1) Connected component within the specified rectangle.
(2) Since each mark is a figure surrounded by three straight lines, the pixels constituting the photographed image are connected and only a frame-like figure is extracted from them.
(3) A frame composed of three straight lines.
Hereinafter, these processes will be sequentially described.
(2-1) Judgment process based on size and number of pixels For a figure to be judged selected by the filter process as described above, the figure falls within a specified rectangle (vertical and horizontal rectangles on the image plane). It is determined whether it is included in. In other words, this determination is based on the size of the figure that is symmetrical to the determination (the area of the figure, the width / height of the rectangle that circumscribes the area of the figure), and this determination is at least one of the following two processes: To implement.
(a) Determination by the total number of pixels that the area has In this processing, since the mark includes three straight lines and has a certain size, the ratio of the number of pixels in the certain area is determined. In other words, a figure that has many pixels and is almost filled, or a figure that has too few pixels, on the other hand, cannot detect three lines even if it is a mark candidate in terms of dimensions. Can be excluded.
(b) The determination is made based on the width and height of a rectangle having horizontal and vertical sides on the image plane circumscribing the area of the graphic to be determined. That is, in the example of FIG. 12, only the area within the rectangular range defined by the vertical rectangular width min and the vertical rectangular width max, and the horizontal rectangular width min and the horizontal rectangular width max is defined as a symmetrical figure. to decide. In FIG. 12, figures A, B, C, and D satisfy the above conditions, and therefore are determined as mark candidates, and figures E and F are not marks because they are figures smaller or larger than the area. Is determined.
(2-2) Straight line detection by contour tracking After the determination processing based on the above dimensions and the number of pixels, the extent to which a linear element is included in the edge portion of the frame with respect to the target figure is as follows. judge.
In FIG. 13, symbol A is an inspection start position (current position) selected from a predetermined point on the symmetrical figure. Centering on the current position A, the eight directions of up, down, left and right and diagonal are classified into four direction categories as shown in the table of FIG. That is, around the current position A in the clockwise direction,
2, 3, 4 directions ... Direction category A
4, 5, 6 directions ... Direction category B
6, 7, 0 direction ... Direction category C
0, 1, 2 directions ... Direction category D
And Further, when the outline of the determination target figure is traced from the current position A, every time a direction change occurs, the previous direction code change location is X1, Y1, and the current direction code change location is X2, Y2. And
By the way, the following is known as “definition of digital line”.
A necessary and sufficient condition for the simple arc α to be a digital line segment on a continuous image is that α has a code characteristic. The figure at this time is called a digital line segment or a digital straight line.
A necessary condition for a simple arc to be a digital straight line is that the following (1) to (3) hold when this simple arc is represented by a direction code. However, the direction code represents the direction from one pixel to the next pixel in units of 45 °, and is called a chain code or a freeman code.
(1) There are no more than two types of direction codes, and they are 45 degrees different from each other.
(2) At least one of these codes can only occur in a series of length 1.
(3) The other cord creates a series of at most two different lengths. The lengths of the two types of reams differ only by 1.
These points are detailed in Non-Patent Document 1.
Toriwaki Junichiro Digital Image Processing for Image Understanding (II)
Here, when the above condition is not satisfied in the contour tracking, it is called a vertex prediction point, and it is determined how much a linear component is included in the edge of the figure based on the number. For example, in the image as shown in FIG. 14A, there are three long straight lines and short line segments at the respective vertex portions. Of these, the short line segments at the respective vertex portions are the above (1) to Since the condition of (3) is not satisfied, it is not counted as a digital straight line, and only three long line segments are detected as straight lines in this figure.
(2-3) Detection of triangle However, if only the above determinations (1) to (3) are made of individual small sides such as a circle, those sides are not counted. Also need to be added. That is, in a figure in which a concave portion in which short line segments are combined as shown in FIG. 14B is formed, the short line segments forming the concave portions do not satisfy the conditions (1) to (3). It is not counted as a straight line, and the remaining three U-shaped straight lines other than the recesses are detected and recognized as a figure with three sides. However, even if three straight lines are detected, such a figure including a concave portion is not a triangular mark that is a detection target of the present invention, and such a figure is excluded as a mark candidate. There is a need. Therefore, in this embodiment, it is determined whether or not it is a mark candidate by adding the following condition.
[Additional conditions]
In contour tracking, always cycle once, taking the same direction change category.
That is, whenever a direction change occurs during contour tracking, the direction of change is determined. For example, when the direction change category A from the tracking start position is set as the start category, the direction change category A-direction change category B- Direction change category C-Direction change category D-Direction change category A or Direction change category A-Direction change category D-Direction change category C-Direction change category B-Direction change category A The condition for determining the mark to be detected is to cycle the number of times and return to the original tracking start position. At this time, the start category is not defined, and tracking may be started from any direction change category.
In this way, as shown in FIG. 14B, a graphic including a concave portion includes a different direction change category in the middle of the cycle. It can be determined that it is not a mark.
In accordance with the above-described definition of digital straight lines and additional conditions, an algorithm for performing straight line extraction processing on a graphic to be determined is as follows.
First, in performing contour tracking of a figure to be determined, the contour tracking start point is a start vertex prediction point, and the position when the above condition (definition of digital line) is not satisfied is the end vertex prediction point. Make a decision.
(1) The distance between the start vertex prediction point and the end vertex prediction point is set as the extracted edge size, and the following determination and processing are performed. Here, the determination distance of the size of the side is the sum of the absolute values of the difference in the horizontal direction and the difference in the vertical direction (city block distance).
(a) If the size of a side is a predetermined size, store the position (coordinates) of the start vertex prediction point and end vertex prediction point, increment the number of sides, and set the end vertex prediction point An update process is performed to make the next vertex start vertex prediction point.
(b) If the size of the side is not a certain size, only the update process is performed with the end vertex prediction point as the start vertex prediction point of the next side.
(2) Judgment of Category Change If it is not the change cycle of the additional condition, it is determined that the mark is not a mark, and the process for the figure to be judged is stopped.
(3) Judgment of the number of sides At the end of contour tracking, the figure that satisfies the conditions (1) and (2) above is inspected for the number of sides incremented, and when the number of sides is 3, The figure is determined to be a mark. In this case, each side of the figure corresponds to a desired index line segment. That is, the obtained edge is a straight line passing through two points, the start vertex prediction point and the end vertex prediction point. On the other hand, when the number of sides of the graphic is not 3, it is determined that the graphic is not a mark.
(2-4) Calculation of frame vertices Three intersections (frame vertices) are calculated from the three straight lines extracted from the graphic determined as a mark as described above. That is, the start of the three straight lines detected in the figure as in the case where a short straight line not counted as a side is recognized by the processing of (b) in (1) (see FIG. 14A). The vertex prediction point and the end vertex prediction point are not necessarily located at the vertex of the frame. Therefore, in the mark discrimination processing, the intersection of two straight lines of each combination is obtained from the three straight lines of the graphic determined as the mark, and the calculation processing is performed to make those intersections the vertices of the triangle formed by the frame. .
(2-5) Determination of number of marks Hereinafter, such a process is performed on all the captured figures to determine how many marks exist on the imaging plane. In this case, when the figure determined to be a mark is 2 to 4, each process according to the determined number of marks is performed, but when it is determined that the mark is 1 or less or 5 or more, Since the focal point and the designated position cannot be determined, the process returns to the original image input process again, and the mark determination process from the captured figure is repeated.
When the number of figures determined to be marks is 5 or more (more than the number of marks installed), it is possible to narrow down the mark candidate figures by further tightening the mark determination criteria. For example, the degree of linearity of the frame constituting the mark can be used as a reference, or the shape of the image and the number of pixels included in the frame can be used as a reference for narrowing down. Specifically, in a mark provided with a circular part for left / right discrimination inside the frame, the presence of a circular figure in the frame is used as a criterion for determination as a mark, or the number of pixels constituting the circular part is constant. If it is within the range, the figure can be determined as a mark, or for a mark on the side where there is no circular part in the frame, it is a mark that there is no other figure or a certain number of pixels in the frame. Judgment criteria.
(3) Mark type determination unit 52
The mark type discriminating unit 52 discriminates whether the mark is provided on the left or right side of the display. For the figure determined to be a mark by the processing of the mark detecting unit 51, It is detected whether or not there is a filled portion inside, and based on the presence or absence, a determination is made as to which side of the display the mark is provided. This process can be performed by detecting that a certain number of pixels or more are present in an area surrounded by three index line segments.
(4) Index segment selection unit 53
(4-1) Prediction of mark position: Basic concept As described above, the position of each vertex (the coordinates of the vertex of each mark) is calculated for each mark, and the position of each mark on the imaging plane is found. After that, the position of the mark that has not been imaged is estimated according to which index component included in the imaged mark is extended in which direction.
(A) Four captured marks When there are four figures determined to be marks, it is assumed that all the marks have been captured, and the image is based on the coordinates of these four marks on the imaging plane. It is calculated at which coordinate of the coordinate system of the display display plane the optical axis of the imaging device that is the center of the plane is located. This process is a known technique as described in Patent Document 1 and the like.
(B) Three photographed marks When there are three figures determined to be marks, the positions of the remaining one mark are calculated using the line segments included in the three figures. In this embodiment, if at least two marks are recognized, the position of another mark can be calculated. However, when three marks are detected as in this case, each mark has a different direction. By obtaining the intersection of three line segments, the accuracy can be improved.
The process for obtaining this intersection is performed as follows. First, as shown in FIG. 15, the coordinates on the image plane are x, y, the straight line included in each mark is represented by y = ax + b, and the detected three marks are mark 0, mark 1, and mark 2. . When the inclination and Y intercept of each of the three straight lines of the mark 0 to the mark 2 are examined, two straight lines out of the three straight lines have the same Y intercept with the same inclination as the straight lines of the other marks. . That is, since the two captured images each include a line segment that passes on the same straight line, when the inclination and Y intercept of the three straight lines of each mark are examined, the three marks of each mark Of the straight lines, there are two that have the same slope and Y-intercept as the straight lines of other marks. This means that if three marks are photographed, for each mark, one straight line does not always run on the same straight line as the other marks. And the 4th mark (mark 4) which is not image | photographed is located on the intersection of one straight line which does not pass on the same straight line as the straight line of the other marks of each mark.
(C) Two photographed marks In the state where four marks are placed on the display side, the patterns of capturing two marks are roughly divided into the following six patterns as shown in FIG.
(1) When only the upper mark is imaged (only the upper left mark and upper right mark are imaged)
(2) When only the lower mark is captured (only the lower left mark and lower right mark are captured)
(3) When only the right mark is captured (only the upper right mark and lower right mark are captured)
(4) When only the left mark is captured (only the upper left mark and lower left mark are captured)
(5) When a diagonal mark is imaged (1) (Only the upper left mark and lower right mark are imaged)
(6) When a diagonal mark is imaged ... 2 (only the lower left mark and upper right mark are imaged)
With regard to the above (1) to (6), in any case, for example, as shown in FIG. 17 showing the state of (4) in which two marks on the left are imaged, of the linear components of the two images captured. The position of two marks that are not imaged can be predicted by the intersection of two straight lines excluding a straight line having the same direction. That is, as shown in the graph on the right side of FIG. 17, among the straight lines of the mark 0 and the mark 1, the positions of two marks remaining from the intersection of four straight lines other than the straight line that seems to be the same straight line are predicted. To do. In this case, first of all, the intersection of the straight lines derived from the same mark among the intersections of the four straight lines represents the vertex of the mark and is excluded because it is not related to the remaining two marks.
(4-2) Prediction of mark position: specific algorithm (4-2-1) Identification of mark vertices Next, among the four intersections generated by the combination of two straight lines of each mark, It is necessary to eliminate two intersection points (for example, P in FIG. 17) that occur at locations other than the positions of the mark 2 and the mark 3, and for this purpose, a straight line that passes through the estimated mark position is distinguished from a straight line that does not pass through. There is a need. Therefore, in this embodiment, the straight lines are distinguished by identifying vertices having different properties from the other vertices among the vertices of each mark.
FIG. 18 shows a method of identifying vertices. The left side of the figure is a figure identified as a mark, and this figure has three vertices a ′, b ′, and c ′. . Similarly, although not shown, it is assumed that another figure determined as a mark also includes three vertices d ', e', and f '. In this case, since the vertices of each mark are not identified, “′” is added to the vertex codes to distinguish them from the identified vertex codes.
When two marks are considered in this state, two vertices of each mark are present on the same straight line L passing through the two vertices of the other marks. In the example of FIG. 18, the vertices a ′, b ′, d ′, and e ′ of the two marks are located on the same straight line L as shown on the right side in the drawing. Therefore, the vertices c 'and f' that are not on the same straight line L are determined as the vertices c and f of the respective marks, and the remaining two vertices are arbitrarily set as a, b, d, and e. As a result, for each mark, each vertex can be identified based on the vertices c and f having different properties.
(4-2-2) Align Vector Orientation After the vertexes are determined for each mark as described above, the straight lines ab and mark 02 of the mark 01 located on the same straight line, that is, the mark 01 The direction of the vector determined by the straight line de is aligned. That is, in each mark, the vertices a, b, d, and e are arbitrarily determined, and thus the directions of the vectors indicated by the straight lines ab and de on the same straight line do not always match. Therefore, the directions of the vectors are matched based on the following rules.
(1) If ab = k · de k> 0 (inner product: positive value), do nothing.
(2) When ab = k · de k <0 (inner product: negative value), vertices a and b are exchanged.
(Be sure to adjust ab and de so that they are in the same direction.)
(4-2-3) Determination of Estimated Mark Position Next, when the two types of marks being captured are different, whether the upper and lower marks are captured or are at diagonal positions The condition for extracting the combination of straight lines differs depending on whether the mark is imaged, so it is necessary to judge. As shown in FIG. 19, since there are three patterns in this imaging pattern, the position of the vertex of each mark is determined for each pattern.
(a) Image pattern 1 (when only the right and left marks are captured)
In this pattern, as described above, the outer product: ab with the vertices a, b, c and d, e, f of each mark determined so that the directions of the two captured vectors are the same. If the ac code is α and the sign of the outer product de × df is β, then α = β (same sign). Therefore, the intersection of the straight line ca and the straight line fd of each imaged image becomes the position of the first mark that is not imaged, and the intersection of the straight line cb and the straight line fe becomes the position of the second mark that is not imaged.
(b) Image pattern 2 (when only the upper and lower marks are captured)
Also in this pattern, with the vertexes a, b, c and d, e, f of each mark determined so that the directions of the two captured vectors are the same, the outer product: ab × ac code is expressed as α When the sign of the outer product de × df is β, α = β (same sign) as in the imaging pattern 1. Then, the intersection of the straight line ca and the straight line fd of each imaged image is the position of the first mark that is not imaged, and the intersection of the straight line cb and the straight line fe is the position of the second mark that is not imaged.
(c) Image pattern 3 (when a mark located diagonally is imaged)
In this pattern 3, with the vertices a, b, c and d, e, f of each mark determined so that the directions of the two captured vectors are the same, the outer product: ab × ac code is expressed as α If the sign of the outer product de × df is β, then α ≠ β (different sign). Then, the intersection of the straight line ca and the straight line fe of each imaged image becomes the position of the first mark that is not imaged, and the intersection of the straight line cb and the straight line fd becomes the position of the second mark that is not imaged.
However, in the present embodiment, when such an imaging pattern 3 is detected (α ≠ β), the imaging process is performed again as an imaging error. That is, the imaging pattern 3 is generated when the imaging apparatus is very close to the subject and is rotated around the optical axis. However, depending on the actual usage of the imaging apparatus, for example, a general shooting game It is unnatural and almost impossible for the imaging device to be in such a state when using a pointer in an aiming or presentation device. Therefore, in the present embodiment, when such an imaging pattern 3 is detected, the user is prompted to perform imaging again as an error.
In such an imaging pattern 3, when calculating the positions of two marks that are not imaged without causing an error, the upper and lower marks of each of the captured images are clearly defined. It is necessary to change the shape. That is, it should be noted that it is necessary to prepare three types of marks as mark shapes. The reason for this is that when the vertex determination process for each of the following mark positions is performed, the positions of the four marks cannot be specified using only two types of marks having different shapes.
In addition, the straight line combination determination for calculating these intersections is not performed to reduce the number of marks provided on the display side, but to increase the range that can be indicated by the imaging apparatus, four marks are provided on the display side. It is necessary to consider only when the number of marks provided on the display side is to be reduced (for example, when two marks are provided), since it is known where the two captured images are placed on the display. Absent.
(5) Unimaged mark position calculation unit 54
(5-1) Calculation of coordinates of unimaged mark As described above, the index line segment selection unit 53 calculates the position of an unimaged mark by which index line combination of two captured images. Is determined by the unimaged mark position calculation unit 54 by calculating the coordinates of the intersection of the extension lines according to the combination of the selected index line segments, thereby determining the positions (image planes) of the two unimaged marks. (Coordinates above) is calculated.
(5-2) Vertex determination processing for each mark position As described above, the positions (coordinates) of two uncaptured marks are obtained as the intersections of the extension lines of the line segments included in the captured marks. After the mark, the mark 0 to the mark 3 correspond to which mark provided on the display, that is, the four marks are identified (rectangular vertices formed by the four marks are determined). In the following description, symbols A, B, C, and D indicate the identification positions of marks 0 to 3, and indicate the three intersections a, b, c,... I'm not. Also, the captured marks are A and B, and the marks estimated by the intersections are C and D.
However, when the number of detected marks is 3, the mark detected by 2 point pairs can be found out of the detected marks, so the mark detected only at 1 point is assumed as C estimated from the intersection of 3 straight lines. The vertices of the four marks are determined by the same processing as when two marks described below are imaged.
As a premise for determining the vertex, the type of the mark is clarified by the captured mark feature (the presence or absence of an internal circular portion), and any combination of marks is captured in the above-described mark position prediction process. It is clear. Then, as shown in FIG. 20, the mark including the inner circular portion is on the left side, and the mark not including is on the right side, and marks 0 to 3 are counterclockwise from the upper left. The detected mark is divided into two points, that is, a left mark, two right marks, and two different types of marks, and vertex determination processing is performed.
(1) When it is known that the detection mark is the left two marks (guessing marks: marks 2 and 3)
A cross product of AB × AC is performed.
If the sign of AB × AC is positive, the upper left is A and the lower left is B
If the sign of AB × AC is negative, the upper left is B and the lower left is A
If the sign of AC × AD that performs the outer product of AC × AD is positive, C on the lower right and D on the upper right
If the sign of AC × AD is negative, D on the lower right and C on the upper right
(3) It is known that the detection mark is two marks on the right side (guessing mark: marks 0, 1)
Perform the cross product of AB × AC If the sign of AB × AC is positive, the lower right is A and the upper right is B
If the sign of AB × AC is negative, the lower right is B and the upper right is A
Perform AC × AD outer product If the sign of AC × AD is positive, the upper left is C and the lower left is D
If the sign of AC × AD is negative, the upper left is D and the lower left is C
(2) / (4) The point that one point (A) of the detection mark is on the left side and the other point (B) is on the right side is an outer product of known AB × AC.
(a) If the sign of AB × AC is positive, the lower right is B and the lower left is A
Perform AC × AD outer product If the sign of AC × AD is positive, the upper left is D and the upper right is C
If the sign of AC × AD is negative, the upper left is C and the upper right is D
(b) If the sign of AB × AC is negative, the upper left is A and the upper right is B
Perform the outer product of AC x AD If the sign of AC x AD is positive, C is in the lower left and D is in the lower right
If the sign of AC × AD is negative, the lower left is D and the lower right is C
(5) / (6) It is known that one point (A) of the detection mark is on the left side, and the other point (B) is on the right side. In the outer product method, each mark cannot be specified, and the vertex cannot be detected. Therefore, in the present embodiment, as described above, in the case of a combination of marks such as the imaging pattern 3, a second imaging process is obtained so that the imaging pattern such as (5) / (6) does not occur. ing. Of course, in addition to the two types of marks that distinguish left and right, if the left and top left and right marks can be distinguished by different shapes (a total of three types of marks will be prepared), this (5) / (6) Even in this case, it becomes possible to identify four vertices.
(6) Relative coordinate detection unit 55
In the relative coordinate detection unit 55, based on the coordinates of the four marks on the image plane and the coordinates of the marks provided at the four corners of the display on the display display plane, the coordinate system of the captured image plane and the display are displayed. By performing perspective projection transformation processing with the coordinate system of the display plane, the relative positional relationship between the two coordinate systems is calculated. Then, when the relative positional relationship between the two coordinate systems is found, for example, it is possible to calculate which position on the display surface the instruction unit located at the center (on the optical axis) of the imaging device indicates. By outputting the calculation result to the display control device 6, the point indicated by the center of the imaging device can be displayed on the display.
Note that the specification of the designated position by the perspective projection transformation process after the coordinates of the four marks on the captured image plane are calculated is disclosed in Japanese Patent Laid-Open Nos. 8-71252, 2001-148025, and the present applicant. Since this is a known technique as described in Japanese Patent Application No. 2002-300478 relating to this application, any method of this partial processing may be adopted in the present invention.
3. Next, the operation of the position detection apparatus according to the present embodiment will be described with reference to the flowchart of FIG. The processing of this embodiment is broadly divided into (1) processing for determining a mark from pixels on a captured image plane, and (2) processing for determining the position of a mark that has not been captured by the determined mark. However, since the detailed operation of each step described in the flowchart has already been described in the section of the algorithm of this embodiment, the details are omitted, and in what order the apparatus executes each process. Will be explained.
In addition, this flowchart shows image processing performed on a graphic on an image plane imaged by the imaging device. As the previous step, the imaging device uses an infrared transmission filter in advance, and as much as possible the graphics. The structure should not be generated. By doing so, the number of figures can be limited to some extent as compared with an image in the visible light region.
(1) Mark discrimination process (step 01)
The target region is extracted by the sharpening process and the binarization process for the image formed on the image plane by the infrared region light by the infrared transmission filter. That is, in order to distinguish the mark from other figures, the mark itself uses a wavelength in the near-infrared region, etc., and a means for suppressing the number of figures generated in advance by installing a filter in the imaging device. Take.
In order to make only a frame-shaped figure, that is, a figure including a hole inside, from among the figures that are captured and displayed on the image plane, all the pixels extracted in step 01 are subject to the mark determination. Then, the connection process is performed.
It is determined whether the figure constituted by the connected pixels is (1) a frame shape or (2) a filled portion (circular portion) is present inside. That is, in the process of (1), it is determined that other than the frame-like figure is not a mark, and is excluded from the mark candidates. In the process (2), it is determined whether or not there is a filled portion inside the frame for the graphic determined as the mark candidate. The determination of the filled portion is used to determine whether the figure determined to be a mark in the following steps is on the left or right side of the display.
It is inspected that the mark candidate graphic is a connected component within the range of the specified rectangle. That is, since the figure to be a mark should fit within a certain range of dimensions, it is determined that a figure outside the range is not a mark.
It is determined whether or not the graphic set as the mark candidate in step 04 is a frame composed of three straight lines.
The mark detected in step 05 includes three line segments (index line segments), but the end points of the determined line segments are not always the triangle vertices. Therefore, the vertex coordinates of the frame are detected from the intersection of the detected three straight lines.
As described above, by sequentially executing the above steps, a figure to be a mark from the captured image is determined as follows as an example.
Left mark: A frame composed of three straight lines with a filled portion inside. Right mark: A frame composed of three straight lines with no filled portion inside. In this case, the number of marks is set on the display side. It should be in the range of 0-4 below the number of marked marks. However, in the mark discrimination process of (1), when there are more figures than the number of marks set, it is possible to compare the shape of the internal points or the certainty of the linearity of the frame.
(2) Mark position determination processing After the determination of the figure to be a mark as described above, the position of each captured image and the position of each captured image are determined according to the determined number of marks. The estimated position of the mark that has not been imaged is determined.
It is determined whether or not four marks have been detected. If four marks have been determined, the process proceeds to the next step 13 for identifying the vertices of the four marks. On the other hand, if four marks are not detected, the process proceeds to step 08 to determine whether or not three marks have been detected. In this determination, by including the same straight line in each mark, even if it is a graphic determined as a mark candidate in the mark graphic determination process of (2), it does not include the same straight line. Can be determined to be not the original mark. This determination of whether or not the same line is included is performed in the same way when determining the number of marks in steps 08 and 10 to be described later, thereby improving the accuracy when selecting a mark from the captured figure. Will improve.
If three marks are detected, the process proceeds to the next step 09 to obtain the position of one mark remaining from the intersection of the three straight lines. On the other hand, if three marks are not detected, the process proceeds to the next step 10 for determining whether or not two marks are detected.
In this step, among the index lines of the three marks, index lines that are not on the same straight line as the index lines of the other marks are extracted from each mark, and remain from the intersection of the extension lines of these three index lines. Find the position of one mark. In this case, the position of the remaining one mark may be estimated from the combination of the index line segments of the two marks selected from the three marks. Then, after the position of the remaining one mark is estimated, the process proceeds to the next step 13 based on the position of the one mark estimated as the three captured images, and the vertices of the four marks are identified. .
In this step, it is determined whether there are two detected marks. If there are two marks, the process proceeds to step 11 to determine a straight line combination. If there are not two marks, that is, if there are one or less captured images, it is impossible to estimate the position of another mark. If there is, the process returns to step 01 in order to process the next captured image through the infinite loop process of step 15. Note that in the (1) mark discrimination process, if there are more figures than the number of marks set, the number of marks in the step 10 is changed to 5 instead of 4 or less in the mark discrimination process. In the case where there are the above marks, it is possible to return to step 01 in order to perform the determination process for the next captured image without positioning the mark.
If it is determined in step 10 that there are two captured images, in this step 11, the combination of the index line segments among the index line segments included in the two marks is captured. A process of selecting a combination of index line segments is executed as to whether or not to estimate the position of an unmarked mark. As described above, this process is used to detect intersections by selecting the vertices of two marks that are not on the same straight line and identifying the vertices of each mark based on the selected vertices. An index line segment is selected.
After it is determined in step 11 which index line segment of the two marks is to be used, the intersection of the extension lines of the index line segments is obtained, and this is estimated as the position of the two marks that have not been imaged. .
As a result of the processing of steps 07, 09 and 12, the coordinates of the captured mark and the estimated mark on the image plane are discriminated. In this step 13, these four marks are located at the four corners of the display. In other words, the correspondence relationship between the vertexes of the rectangle forming the display screen of the display and the four marks is determined.
In this step 14, based on the coordinates of the four marks on the image plane and the coordinates of the marks provided at the four corners of the display on the display display plane, the coordinate system of the captured image plane and the display display plane are displayed. By performing perspective projection conversion processing with the coordinate system, it is calculated at which coordinate of the coordinate system of the display display plane the optical axis of the imaging device that is the center of the image plane is located.
After the imaging device optical axis and the coordinate position on the display plane are determined as described above, the next data input from the imaging device, that is, from the imaging device that moves every moment, unless a stop command is input. By repeating the analysis of the input image data, the detection of the designated position of the imaging device at each time point is repeated. In addition, as described above, when five or more marks are detected or when only one or less points are detected, a new mark detection process is performed on the next input captured image data. The designated position of the imaging device is detected.
4). As described above, according to the present embodiment, even when only two marks are photographed on the image plane, the light of the imaging device on the display is estimated by estimating the positions of the remaining two marks. It becomes possible to detect the relative coordinates of the intersection of the axis and the display plane. As a result, in the prior art, the point on the display pointed to by the imaging device is limited to the range where all the marks on the display side are picked up, and it was impossible to point near the periphery of the display. According to the present embodiment, since it is sufficient that two marks can be photographed, it is possible to indicate a point near the periphery of the display.
For example, FIG. 21 shows a case where only the lower two marks 1 and 2 among the four corner marks of the display are imaged on the image plane W of the imaging apparatus. O designates a predetermined point on the display surface as the center point of the imaging device. According to the present embodiment, the positions of the other marks 3 and 4 can be estimated based on the index line segments included in the two marks 1 and 2. The range surrounded by these four marks corresponds to the display plane V of the display, and the center point O of the image plane W is an indication point on the display display plane V. It can be moved closer.
Similarly, FIG. 22 shows a case where only the left two marks 0 and 1 among the four corner marks of the display are imaged on the image plane W of the imaging device. By estimating the positions of the other two marks 2 and 3 that are not present, the center point O of the image plane W can be moved close to the periphery of the display display plane.
Furthermore, in the prior art, when the image pickup apparatus is brought close to the display, it becomes impossible to pick up four marks and the relative coordinates indicated by the image pickup apparatus cannot be detected. However, in the present invention, at least two marks are picked up. Therefore, it is possible to bring the imaging device closer to the display as compared with the prior art. As a result, according to the present embodiment, it is possible to reduce the size of a game machine or the like including a display and an imaging device, and to realize a presentation device in which a user of the imaging device is close to a large display.
In the second embodiment, only two marks are provided on the display side, and the number of marks installed is reduced. In this embodiment, if the two marks provided at any two of the four corners of the display are imaged, the positions of the two corners where the display mark is not provided can be predicted. The number of installations can be reduced.
On the other hand, the two installed marks must be imaged, and the instructable range is narrower than in the first embodiment. Further, in this embodiment, since it is a precondition that the two installed marks are always imaged, it is not necessary to add information indicating the direction of the installed marks.
As a specific configuration, it may be assumed that any two marks of the four marks provided at the four corners of the display in the first embodiment are provided on the display in advance. For example, when the number of marks is reduced as in the present embodiment, the number of patterns to be captured is smaller than when any two of the four marks in Embodiment 1 are captured. The combination of straight lines in the mark position prediction process performed in Example 1 is not necessary.
Further, also in the process of identifying four marks (determining the vertex of the display area surrounded by the four marks), the position of the mark that is clearly imaged is already known in the second embodiment. Only when the same type of mark is picked up. Therefore, in the second embodiment, in the flowchart of the first embodiment shown in FIG. 3, the processing in the case where four marks in step 07 are detected and the three marks in steps 08 and 09 are detected. No processing is necessary.
Each of the above-described embodiments uses a triangular frame-shaped mark, but the shape of the mark of the present invention is not limited thereto. As shown in FIG. 10, it is also possible to use a mark composed of a combination of three index line segments that intersect at one point. In that case, a method for determining a frame by contour tracking cannot be employed to determine a mark from a captured figure. Therefore, as shown in FIG. 12, in addition to the determination method in which the size of the mark shown in the first embodiment falls within a certain region, a single point intersection of three straight lines is used as the feature amount of the mark.
That is, as shown in FIG. 23, a combination of two straight lines is selected from the three straight lines to be determined, the position of the intersection is calculated, and straight lines L1 and L2 separated by the calculated three intersections. , L3 is an indicator of how short three lines intersect at one point. In this case, the maximum value and the minimum value of the X and Y coordinates at the three intersections are obtained. The lengths LX and LY in the X and Y directions are obtained, and it is determined that the one with the smallest LX + LY is closest to the intersection.
In this case, it is conceivable to determine the degree of intersection of the three straight lines at one point based on the size of the area surrounded by the three intersections. However, as shown in FIG. Even if C is far away from the intersection A, the area becomes close to 0 when the intersection C approaches the intersection B. Therefore, the method using the positional relationship of each point as an index is better. However, it is also possible to determine the degree of one-point intersection by combining this area index with other indices (such as the angle of two detected index line segments). The present invention is as shown in FIG. It does not exclude important indicators.
Thus, by using the mark configuration of the third embodiment, it is possible to characterize that “it is composed of three straight lines (index segment) and intersects at one point”. Therefore, when the index line segments of two marks are extended to estimate the position of another mark that has not been imaged, the mark position can be accurately predicted as compared with the triangular frame-shaped mark of the first embodiment. There are advantages. In particular, one intersected point is not affected by the error due to the length of the line segment constituting the frame as shown in FIG. 8 or the projection distortion as shown in FIG. Position prediction is possible, and there is an advantage that the indicated position detection accuracy of the imaging apparatus based on the imaging mark and the prediction mark is high.
The present invention can be applied to applications such as a user's gaze direction detection device in a driving simulator by mounting an imaging device on the user's head in addition to a game device aiming device and a presentation display pointer.
In the method for detecting the relative coordinates of the intersection of the optical axis of the imaging device on the display and the display plane when the display is photographed by the imaging device,
Marks are arranged at the four corners of the display, and each mark is provided with a linear index line segment indicating the arrangement direction of the other three marks.
At the time of detection of the designated position of the image pickup device, if four marks are not shot on the image pickup device, it is determined at which position of the display the at least two shot marks are provided and picked up. A process for detecting the direction in which the unmarked mark exists,
The index line segment included in each imaged mark is discriminated, the index line segment is extended in the direction in which the non-imaged mark exists, and the intersection of the line segment extended from each mark is obtained. Processing to calculate the position of the mark that is not imaged above,
A process of calculating the positions of the four marks provided on the image plane on the image plane based on the calculated positions of the marks that have not been photographed and the positions of the plurality of marks that have been photographed; ,
And a process of detecting a coordinate position indicated by the optical axis of the imaging apparatus on the display plane based on position information of the four marks on the image plane.
Marks are arranged at two places on the four corners of the display, and each marker is provided with a linear index line segment indicating the arrangement direction of the corner of the display where no mark is provided,
At the time of detection of the designated position of the imaging device, a process of determining the positions of the two marks taken on the image plane taken by the imaging device and the index line segments included in these two marks;
The index line included in the two marks is extended in the direction of the corner of the display where no mark is provided, the intersection of the extended line is calculated, and the mark is not provided at the intersection. Processing to position the corners of the display on the image plane;
A process of calculating the positions of the four corner positions of the display on the image plane based on the calculated positions of the display corners and the positions of the two captured marks;
An indication position detection method for an image pickup apparatus, comprising: processing for detecting a coordinate position indicated by an optical axis of an image pickup apparatus on a display plane based on position information on the image plane of the four corner positions of the display.
2. The pointing position detection method for an imaging apparatus according to claim 1, wherein the plurality of marks form a triangular frame shape having index lines along the top, bottom, left and right and diagonal directions of the display.
4. The pointing position detection method for an image pickup apparatus according to claim 3, wherein the plurality of marks are composed of a frame-shaped mark whose inside is blank and a mark having a filled portion inside the frame. .
The contour of the figure captured by the imaging device is tracked, and the direction of the direction of the straight line included in the captured figure is detected to determine the convex block shape from the captured graphic. The method according to claim 3, wherein when the three linear components are included, the mark is determined to be a triangular mark.
A process of determining an index line segment included in each imaged mark and extending the index line segment in a direction in which a non-imaged mark exists is an index existing on the same line of the two imaged marks In a state in which the direction of the vector of the line segment is aligned, a vertex that does not exist on the same straight line in the two captured images is determined, and the other vertexes of each mark that are not on the same straight line are used as a reference. Including a process of identifying a vertex and then determining, based on the identified three vertices, an index line segment extending in a direction in which there is an unimaged mark or a corner of a display where no mark is provided. 6. A method for detecting an indicated position of an imaging apparatus according to claim 3, 4 or 5.
The imaging device according to claim 1 or 2, wherein the plurality of marks form a radial shape obtained by intersecting index lines along the top, bottom, left, and right and diagonal directions of the display at one point. Point position detection method.
A process of determining an index line segment included in each imaged mark and extending the index line segment in a direction in which a non-imaged mark exists is an index existing on the same line of the two imaged marks Based on the outer product of the two index line segments that do not exist on the same straight line in the two captured images in the state where the vector directions of the line segments are aligned, the index line segment on the same line and the two index lines An index line that identifies the positional relationship with the minute and then extends in the direction in which there is a mark that is not imaged or a corner of the display where no mark is provided, based on the positional relationship of the three identified index line segments The method according to claim 7, further comprising a process for determining a minute.
A process of calculating positions on the image plane of the four marks provided on the display based on the calculated positions of the marks that have not been photographed and the positions of the plurality of photographed marks. The outer product of vectors connecting the imaged mark and the mark predicted from the intersection when the positions of the two imaged marks are known and the two marks are not located diagonally of the display The method according to claim 1, further comprising: specifying a position of a mark provided on the display based on the display.
In the case of photographing the display by the imaging device, in the device for detecting the relative coordinates of the intersection of the optical axis of the imaging device on the display and the display plane,
A mark provided at each of the four corners of the display, and each mark includes a linear index line segment indicating the arrangement direction of the other three marks;
An imaging device for photographing at least two of the marks;
A mark detection unit that extracts a mark from an image captured by the imaging device;
A mark type determination unit for determining at which position of the display each photographed mark is provided;
An index line segment selection unit for determining a straight line segment indicating the direction of another mark included in each imaged mark;
The index line segment in the plurality of marks detected by the index line segment selection unit is extended in the direction in which the mark that has not been imaged exists, and the intersection of the line segment extended from each mark is obtained, and on this intersection An unphotographed mark position calculation unit that calculates the position of an imaged mark on the image plane;
An imaging device comprising: an arithmetic unit that calculates a coordinate position indicated by an optical axis of an imaging device on a display plane based on position information of a photographed mark and an unphotographed mark on the image plane on the image plane Device position detection device.
Marks provided at two corners of the display, and each of the marks includes a linear index line segment indicating an arrangement direction of the other four corners where no display mark is provided;
An imaging device for photographing the two marks;
A direction line discriminating unit for discriminating an index line segment indicating the direction of another mark included in each imaged mark;
The index line segment in the plurality of marks detected by the index line segment selection unit is extended in the direction of the corner of the display where no mark is provided, and the intersection of the line segment extended from each mark is obtained. A display corner position calculation unit that calculates the position on the image plane of the other corner of the display on which no mark is provided on the intersection;
Provided with a calculation unit for calculating the coordinate position indicated by the optical axis of the imaging device on the display plane based on the position information on the image plane of the display corner calculated from the intersection of the shooting mark and the index line segment on the image plane A pointing position detection apparatus for an imaging apparatus,
In a program for detecting the relative coordinates of the intersection of the optical axis of the imaging device on the display and the display plane when the display is photographed by the imaging device,
A process of determining at least two of the marks arranged at the four corners of the display from among the images of the display captured by the imaging device;
A process of determining in which position of the display the at least two marks determined from the image are provided, and detecting a direction in which a mark that has not been imaged exists;
The index line segment indicating the arrangement direction of other marks at the four corners of the display included in each mark determined from the image is determined, and the index line segment is extended in the direction in which the unimaged mark exists. , Calculating the intersection of the line segment extended from each mark, and calculating the position of the mark not imaged on this intersection;
An instruction position detection program for an image pickup apparatus, which executes a process of detecting a coordinate position indicated by an optical axis of the image pickup apparatus on a display plane based on position information on the image plane of these four marks. .
A process of discriminating two marks provided at two positions at four corners of the display from the image of the display captured by the imaging device;
A linear index line segment indicating the arrangement direction of the corner of the display where the mark included in the two marks determined from the image is not provided is determined, and the index line segment is provided with the mark. Extending in the direction of the corner of the non-display, calculating the intersection of this extended line segment, and making this intersection a position on the image plane of the corner of the display where no mark is provided;
Based on position information on the image plane of the four corner positions of the display, a process for detecting a coordinate position indicated by the optical axis of the imaging apparatus on the display plane is executed. program.
JP2006511780A 2004-03-31 2005-03-31 Method and apparatus for detecting designated position of imaging apparatus, and program for detecting designated position of imaging apparatus Granted JPWO2005096129A1 (en)
JP2004102865 2004-03-31
PCT/JP2005/006235 WO2005096129A1 (en) 2004-03-31 2005-03-31 Method and device for detecting directed position of image pickup device and program for detecting directed position of image pickup device
JPWO2005096129A1 true JPWO2005096129A1 (en) 2008-02-21
ID=35063962
JP2006511780A Granted JPWO2005096129A1 (en) 2004-03-31 2005-03-31 Method and apparatus for detecting designated position of imaging apparatus, and program for detecting designated position of imaging apparatus
JP (1) JPWO2005096129A1 (en)
WO (1) WO2005096129A1 (en)
JP2011171388A (en) * 2010-02-16 2011-09-01 Fujitsu Ltd Connector press fit apparatus for printed circuit board and method for manufacturing electronic component
TW201626159A (en) * 2015-01-08 2016-07-16 原相科技股份有限公司 Relative location determining method, display controlling method, and system applying the method
JP3690581B2 (en) * 1999-09-07 2005-08-31 株式会社ニコン Position detection device and method therefor, plain position detection device and method thereof
2005-03-31 JP JP2006511780A patent/JPWO2005096129A1/en active Granted
2005-03-31 WO PCT/JP2005/006235 patent/WO2005096129A1/en active Application Filing
WO2005096129A1 (en) 2005-10-13