Information Processing Apparatus, Recording Medium, and Positioning Method

Abstract

The present invention relates to an information processing apparatus, a recording medium, and a positioning method. The information processing apparatus (10) includes a processing unit (100) that performs the following processing: based on a captured image (7) including an identifier (6) provided in a space captured by a imaging unit (2), obtain a plurality of positions in the outline of the identifier in an image coordinate system, and determine the position of the imaging unit (2) based on the plurality of positions in the outline of the identifier in the image coordinate system and the position of the outline of the identifier (6) in a world coordinate system.

Description

[0001] Cross - reference to related applications

[0002] This application claims the priority and benefit of Japanese Patent Application No. 2021 - 151353, filed on September 16, 2021. The entire specification, claims, and drawings of Japanese Patent Application No. 2021 - 151353 are incorporated herein by reference. Technical Field

[0003] The present invention relates to an information processing apparatus, a recording medium, and a positioning method. Background Art

[0004] In the past, a technique for estimating the position of a moving body or the like using a captured image has been known.

[0005] In Japanese Unexamined Patent Application Publication No. 2005 - 315746, a technique related to a method for identifying the own position of a moving body that autonomously travels in an environment where a plurality of markers are set above the interior is disclosed. In the method for identifying the own position in Japanese Unexamined Patent Application Publication No. 2005 - 315746, the positions of a plurality of markers set on the ceiling or the like are registered in advance. In the identification of the own position, marker candidate points are extracted from the ceiling image captured by the moving body, and two - dimensional candidate point coordinates are calculated. Further, a plurality of arbitrary imaginary points are set within the traveling area of the moving body, and the two - dimensional coordinates of the markers on the image obtained when the moving body is present at the imaginary points are respectively derived from the three - dimensional registered positions, and the candidate point coordinates and the two - dimensional coordinates are compared. Then, the imaginary point of the moving body corresponding to the two - dimensional coordinate that is most similar to the candidate point coordinates is determined as the own position.

[0006] If the number of markers is large, the measurement accuracy of the position is improved. For example, in the technique described in Patent Document 1, the number of markers set within the moving range is directly related to the position accuracy. However, if positioning at multiple locations is to be achieved, many markers need to be set in the assumed moving area. Summary of the Invention

[0007] An object of the present invention is to provide an information processing apparatus, a recording medium, and a positioning method that suppress the number of markers and derive a highly accurate positioning result.

[0008] An information processing apparatus according to one aspect of the present invention includes one or more processing units, and the one or more processing units perform the following processing: based on an image including an identifier provided in a space captured by an imaging unit, obtain a plurality of positions in the outline of the identifier in an image coordinate system, and determine the position of the imaging unit based on the plurality of positions in the outline of the identifier in the image coordinate system and the position of the outline of the identifier in a world coordinate system.

[0009] Advantages of the Invention

[0010] According to the present invention, there can be provided an information processing apparatus, a recording medium, and a positioning method that suppress the number of markers and derive a positioning result with high position accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a schematic diagram showing the overall structure of a positioning system including an information processing apparatus according to an embodiment of the present invention.

[0012] Figure 2 It is a schematic diagram of a ceiling captured image including markers and identifiers obtained by the information processing apparatus according to the present embodiment.

[0013] Figure 3 It is a block diagram showing the hardware structure of the information processing apparatus and the imaging unit according to the present embodiment.

[0014] Figure 4 It is a functional block diagram showing the functional structure of the information processing apparatus according to the present embodiment.

[0015] Figure 5 It is a schematic diagram showing an example of the positions of the markers and identifiers according to the present embodiment.

[0016] Figure 6 It is a diagram showing an example of the positions of the markers and identifiers according to the present embodiment in tabular form.

[0017] Figure 7 It is a flowchart for explaining the process of the positioning process executed by the information processing apparatus according to the present embodiment.

[0018] Figure 8 It is a schematic diagram for explaining the process of extracting a region with high luminance from the captured image according to the present embodiment.

[0019] Figure 9 It is a schematic diagram for explaining the process of determining an identifier used in positioning from the extracted region according to the present embodiment.

[0020] Figure 10 It is a schematic diagram for explaining the process of determining a marker from the captured image according to the present embodiment.

[0021] Figure 11 It is a diagram showing a list of the image marker position, the image identifier position, and the world-known marker position according to the present embodiment.

[0022] Figure 12 It is a diagram showing a table of the relationship between the world-known identifier position and the calculated identifier position according to the present embodiment.

[0023] Figure 13A It is a diagram showing the relationship on the image coordinate system between the calculated identifier position and the image identifier position related to the present embodiment.

[0024] Figure 13B It is a diagram showing the relationship on the image coordinate system between the calculated identifier position and the image identifier position related to the present embodiment.

[0025] Figure 13C It is a diagram showing the relationship on the image coordinate system between the calculated identifier position and the image identifier position related to the present embodiment.

[0026] Figure 14 It is a diagram showing an example of a table that establishes correspondence between the world-known identifier position and the image identifier position based on the image identifier position and the calculated identifier position related to the present embodiment.

[0027] Figure 15 It is a schematic diagram showing an example where the identifier related to the present embodiment is a quadrilateral.

[0028] Figure 16A It is a schematic diagram showing an example of assigning identifier positions to vertices of an identifier that is a polygon related to the present embodiment.

[0029] Figure 16B It is a schematic diagram showing an example of assigning identifier positions to vertices of an identifier that is a polygon related to the present embodiment.

[0030] Figure 17 It is a flowchart explaining the process of obtaining the image identifier position in the case where the identifier related to the present embodiment is a polygon.

[0031] Figure 18A It is a schematic diagram showing an example where the size of the identifier related to the present embodiment is smaller than a given value.

[0032] Figure 18B It is a schematic diagram showing an example where the boundary part of the identifier related to the present embodiment is unclear.

[0033] Figure 19 It is a diagram showing an example of a table of world-known identifier positions in the case where the identifier related to the present embodiment is a quadrilateral.

[0034] Figure 20A It is a conceptual diagram showing an example of identifying an identifier in a captured image related to the present embodiment in correspondence with the world-known identifier position and using the identified world-known identifier position as a marker.

[0035] Figure 20BThis is a conceptual diagram showing an example of identifying an identifier in a captured image related to the present embodiment in correspondence with a position of a world-known identifier and using the identified position of the world-known identifier as a marker.

[0036] Figure 20C This is a conceptual diagram showing an example of identifying an identifier in a captured image related to the present embodiment in correspondence with a position of a world-known identifier and using the identified position of the world-known identifier as a marker.

[0037] Figure 20D This is a conceptual diagram showing an example of identifying an identifier in a captured image related to the present embodiment in correspondence with a position of a world-known identifier and using the identified position of the world-known identifier as a marker.

[0038] Figure 20E This is a conceptual diagram showing an example of identifying an identifier in a captured image related to the present embodiment in correspondence with a position of a world-known identifier and using the identified position of the world-known identifier as a marker. Detailed Embodiment

[0039] Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[0040] <Positioning System 1>

[0041] First, Figure 1 the outline of the positioning system 1 will be described. Figure 1 This is a schematic diagram showing the overall structure of the positioning system 1 including the information processing device 10. Figure 2 This is a schematic diagram of a captured image 7 of the ceiling 4 including a marker 5 and an identifier 6 acquired by the information processing device 10.

[0042] As Figure 1 shown, the positioning system 1 includes: a camera unit 2 mounted on the side of the moving body 3 instead of on the side of the building 9 including the ceiling; a marker 5 provided in the building 9 in which the moving body 3 moves; and an information processing device 10 that locates the position of the moving body 3 based on the captured image 7 captured by the camera unit 2.

[0043] The camera unit 2 acquires the captured image 7 while mounted on the moving body 3. The camera unit 2 continuously captures the upper ceiling 4 at a given frame rate and acquires a plurality of temporally consecutive captured images 7 of the ceiling 4.

[0044] In addition, the imaging unit 2 is connected to a communication device 28 for communicating with the information processing device 10. The captured image 7 obtained by the imaging unit 2 or various information based on the captured image 7 is transmitted to the information processing device 10 via the communication device 28. Additionally, in this example, the moving body 3 equipped with the imaging unit 2 is a work vehicle such as a forklift.

[0045] The marker 5 is an object that includes a device or identifier as follows: By the marker 5 itself sending data, or the imaging unit 2 imaging the marker 5 for image processing, three-dimensional position information in the world coordinate system 70 where the marker 5 is set can be obtained from the database 19.

[0046] The marker 5 is, for example, a light-emitting device that can control the light-emitting form such as the color and timing of visible light. The marker 5 changes its color, blinks, etc. according to a given pattern to perform optical communication of identification information. Additionally, the light emitted by the marker 5 can be near-infrared light instead of visible light. That is, the wavelength of the light emitted by the marker 5 can be within the light waveband that can be captured by the camera.

[0047] A plurality of markers 5 are provided to determine the position and orientation of the imaging unit 2. In Figure 1 the example shown, two markers 5 are provided on the ceiling 4. Additionally, the marker 5 does not necessarily have to be provided on the ceiling 4, as long as it is provided within the building 9 where the moving body 3 equipped with the imaging unit 2 can move and be imaged.

[0048] The identifier 6 is, for example, a light source or lighting provided in multiple locations on the ceiling 4. In this specification, the identifier 6 refers to an area that can be determined from the captured image 7 through image processing. The determination of the area can utilize, for example, brightness or chromaticity.

[0049] A window 8 is provided in the building 9. When the window 8 is captured in the captured image 7, according to the time period, although the brightness condition is satisfied, control is executed such that the area of the window 8 is not processed as the identifier 6 through image processing. Additionally, the identifier 6 is not limited to a self-luminous body. However, it is also possible to determine, through image processing from the captured image 7, a white reflecting object that reflects light, a green-painted area existing in a brown plane, etc. as the identifier 6.

[0050] The information processing device 10 locates the position of the imaging unit 2 based on the known positions of the marker 5 and the identifier 6, and the position 51 of the marker 5 (hereinafter referred to as the in-image marker position 51) and the position 61 of the identifier 6 (hereinafter referred to as the in-image identifier position 61) included in the captured image 7. The known positions of the marker 5 and the identifier 6 can be determined in advance from the design drawing, or can be determined by other positioning devices. In this specification, the positions of the marker 5 or the identifier 6 are marked in the three-dimensional world coordinate system 70.

[0051] The information processing apparatus 10 is connected to a communication apparatus 18 that communicates with the imaging unit 2. Communication is established between the communication apparatus 18 on the information processing apparatus 10 side and the communication apparatus 28 on the imaging unit 2 side, and the information processing apparatus 10 acquires a captured image 7 from the imaging unit 2.

[0052] <Hardware Configuration>

[0053] Figure 3 is a block diagram showing the hardware configuration of the information processing apparatus 10 and the imaging unit 2.

[0054] In Figure 3 this example, the information processing apparatus 10 includes a processor 11, a ROM (Read Only Memory) 12, a RAM (Random Access Memory) 13, an input / output unit 14, a communication unit 15, and a storage unit 16.

[0055] The processor 11 performs various operations and processes. The processor 11 is, for example, a CPU (central processing unit), an MPU (micro processing unit), an SoC (system on a chip), a DSP (digital signal processor), a GPU (graphics processing unit), an ASIC (application specific integrated circuit), a PLD (programmable logic device), or an FPGA (field-programmable gate array). Alternatively, the processor 11 is a processor obtained by combining multiple ones of these. In addition, the processor 11 may be a processor obtained by combining a hardware accelerator or the like among these.

[0056] The processor 11, the ROM 12, and the RAM 13 are interconnected via a bus. The processor 11 executes various processes in accordance with a program recorded in the ROM 12 or a program loaded into the RAM 13. A part or all of the program may be incorporated into the circuit of the processor 11.

[0057] The input / output unit 14 is composed of a keyboard, various buttons, a microphone, etc., and inputs various information corresponding to the user's instruction operations. In addition, the input / output unit 14 is composed of a display, a speaker, etc., and outputs the captured image 7 and sound. An information terminal with a touch panel is included. The communication unit 15 is a network interface for communicating with the imaging unit 2 etc. via the communication device 28. The storage unit 16 is an area for storing various information such as the captured image 7 and known information.

[0058] Next, an example of the hardware structure of the imaging unit 2 will be described. The imaging unit 2 includes an optical lens unit 21 and an image sensor 22.

[0059] The optical lens unit 21 is composed of lenses that converge light, such as a focusing lens, a zoom lens, etc., for imaging a subject. The focusing lens is a lens that forms an image of the subject on the light-receiving surface of the image sensor 22. The zoom lens is a lens that allows the focal length to freely vary within a certain range. In addition, the optical lens unit 21 is provided with peripheral circuits for adjusting setting parameters such as focus, exposure, and white balance as needed.

[0060] The image sensor 22 is composed of a photoelectric conversion element, an AFE (Analog Front End), etc. The photoelectric conversion element is composed of a CMOS (Complementary Metal Oxide Semiconductor) type photoelectric conversion element, etc. The subject image is incident on the photoelectric conversion element from the optical lens unit 21. For this purpose, the photoelectric conversion element performs photoelectric conversion (imaging) on the subject image and accumulates the image signal for a certain time, and sequentially supplies the accumulated image signal to the AFE as an analog signal. The AFE performs various signal processing such as A / D (Analog / Digital) conversion processing on the analog image signal. A digital signal is generated through this various signal processing, and the captured image 7 is output as the output signal of the imaging unit 2.

[0061] <Functional Structure of the Information Processing Device>

[0062] Figure 4 It is a functional block diagram showing the functional structure of the information processing device 10. Figure 4 As shown above, the functional structure is shown, and the relationship of the processing flow is shown.

[0063] The information processing device 10 performs various controls of the information processing device 10 using a processing unit 100 implemented by the processor 11 performing arithmetic processing based on a given program.

[0064] The processing unit 100 includes, according to functional distinctions, an image processing unit 101, a marker recognition unit 102, a known information acquisition unit 103, a primary positioning unit 104, a calculation unit 105, an identifier recognition unit 106, a determination positioning unit 107, and an output unit 108.

[0065] The image processing unit 101 acquires the captured image 7 and performs preprocessing such as distortion processing. The marker recognition unit 102 can obtain the marker position 51 within the image by performing the process of recognizing the marker 5 from the captured image 7.

[0066] The known information acquisition unit 103 performs the process of acquiring from the database 19 the known information preset in advance, such as the internal parameters 25 of the imaging unit, the imaging unit setting parameters 26, the known marker position 52 (hereinafter referred to as the world known marker position 52) in the world coordinate system 70, and the position 62 of the known identifier in the world coordinate system 70 (hereinafter referred to as the world known identifier position 62). Additionally, the database 19 can be constructed in the storage unit 16 of the information processing device 10 or in a server external to the information processing device 10.

[0067] The primary positioning unit 104 performs the following process: Based on the marker position 51 within the image acquired from the captured image 7 and the world known marker position 52 acquired from the database 19, it positions the position of the imaging unit 2 once and obtains the position 23 of the imaging unit 2 in the world coordinate 70 (hereinafter referred to as the primary world imaging position 23). The primary world imaging position 23 includes the position of the imaging unit 2 and the direction in which the imaging unit 2 is oriented.

[0068] The calculation unit 105 performs a projection calculation process, projects the position on the captured image 7 obtained when the imaging unit 2 captures an image according to the world known identifier position 62, and thus calculates.

[0069] The identifier recognition unit 106 performs the following process: It establishes a correspondence between the position 61 of the identifier 6 (hereinafter referred to as the in-image identifier position 61) obtained from the captured image 7 through image processing and the world known identifier position 62 for recognition. In the present embodiment, when performing this correspondence establishment process, it is set as a PnP problem that includes, in addition to the in-image marker position 51 and the world known marker position 52, the in-image identifier position 61 and the world known identifier position 62, to calculate the position of the moving body 3. Thus, even with a setting of as few as two markers 5, for example, by making use of the existing illumination or the like for the identifier 6, the position of the moving body 3 can be calculated with high precision.

[0070] The positioning unit 107 performs the following processing: Based on the primary position of the imaging unit 2, the world-known marker position 52, the world-known identifier position 62, etc., the final position of the imaging unit 2 in the world coordinate system 70 is determined and obtained (hereinafter referred to as determining the world imaging unit position 24). The determined world imaging unit position 24 includes the position of the imaging unit 2 and the direction in which the imaging unit 2 faces. The output unit 108 performs the processing of outputting the positioning result.

[0071] In addition, in this example, the information processing device 10 is located at a place far from the imaging unit 2, but it is not limited to this structure. For example, the information processing device 10 may also be configured to be installed in the moving body 3 or the imaging unit 2.

[0072] Figure 5 It is a schematic diagram showing the planar arrangement of the marker 5 and the identifier 6 according to the present embodiment. In Figure 5 between. The positional relationship between the marker 5 and the identifier 6 provided on the ceiling 4 is shown in a top view. In this example, two markers 5 are given identification numbers 5a and 5b and are individually processed. In the present embodiment, the same applies to the identifier which is a 16-light illumination, and identification numbers 6a to 6p are given and are individually processed.

[0073] The identifier 6 of the present embodiment is a rectangular ceiling light such as a square or a rectangle. Regarding each identifier 6, the world-known identifier position 62 indicating the center position of the identifier 6 and a plurality of world-known outer shape positions 65 indicating the positions of the outer shape of the identifier 6 are registered as known information in the database 19. The world-known identifier position 62 is set at the center of gravity position of the identifier 6, the intersection point of connecting the world-known outer shape positions 65, etc. The world-known outer shape position 65 is a position indicating the characteristics of the outer shape arranged along the contour of the identifier 6. The world-known outer shape position 65 of the present embodiment is set at a position corresponding to the vertex of a polygon. As described above, the positions of the world-known identifier position 62 and the world-known outer shape position 65 can be determined from the design drawings of the building 9, etc.

[0074] Here, with reference to Figure 6 an example of the world-known identifier position 62 will be described. Figure 6 It is a diagram showing an example of the positions of the marker 5 and the identifier 6 in the world coordinate system 70 in tabular form. In Figure 6In this case, the world coordinates of the central positions as three-dimensional positions of the identification numbers 5a and 5b for the marker 5 and the identification numbers 6a to 6p for the identifier 6 are shown. Here, for convenience of explanation, one of the corners of the ceiling 4 is set as the origin, the x-axis and y-axis are set under a top view, the vertical direction is set as the z-axis, and the ground is set as the origin of the Z-axis. The following processing is performed: In a state where the three-dimensional positions of the marker 5 and the identifier 6 are registered in advance as known information in the database 19, the position of the imaging unit 2 is determined based on the captured image 7 obtained by the imaging unit 2 capturing the ceiling 4.

[0075] <Positioning process>

[0076] Next, the positioning process using the captured image 7 will be described. Figure 7 It is a flowchart showing the flow of the positioning process executed by the information processing apparatus 10 according to the present embodiment.

[0077] When the positioning process starts, the processing unit 100 acquires the captured image 7 captured by the imaging unit 2 and performs distortion correction processing (step S101). The distortion correction processing corrects, for example, the barrel distortion of the captured image 7 captured by the wide-angle lens.

[0078] After the processing of step S101, the processing unit 100 performs processing for determining the position of the identifier 6 (step S102).

[0079] Reference Figure 8 And Figure 9 An example of the processing for determining the identifier position will be described. Figure 8 It is a schematic diagram showing the processing of extracting a region with high luminance from the captured image 7. As Figure 8 shown, in order to determine the identifier 6 from the captured image 7, the image processing unit 101 of the processing unit 100 binarizes the captured image 7 with a given threshold value as a preprocessing, sets only the region with high luminance as white, and sets the rest as black. As a result, a region with high luminance such as a saturated region is extracted. However, in this state, depending on the time period with sunlight such as during the day, the position of the window 8 is also extracted as a region with high luminance.

[0080] Figure 9 It is for explaining Figure 8 A schematic diagram of the process of determining the identifier 6 used in the positioning from the extracted region. As Figure 9As shown, in order to exclude the regions contributing to the misalignment caused by window 8, the image processing unit 101 performs filtering processing based on the actual shape, area, etc. of the extracted regions, and determines only the regions where the likelihood of flag 5 and identifier 6 is high. Then, for each of the multiple identifiers 6, the region center position is obtained through image processing, and this region center position is stored as the in-image identifier position 61. Then, the identifier recognition unit 106 creates a list of the in-image identifier positions 61 of the identifier 6. Here, the center position in the world coordinate system 70 is, for example, the centroid of the region recognized as the identifier 6, the average of the xyz coordinates, the intermediate value between the maximum coordinate and the minimum coordinate, etc. Not limited to these, the center position can represent the position of the identifier 6 as one position.

[0081] In the captured image 7, the identifier 6 forms, for example, a region with high brightness. When the region with high brightness is a polygon as shown Figure 9 In this case, for each identifier 6, a plurality of image outline positions 64 representing the positions of the outline of the identifier 6 are obtained. The image outline position 64 is the position representing the outline feature arranged along the contour of the identifier 6. For example, the positions of the respective vertices are obtained through image processing and used as the image outline positions 64. As the center position of the identifier 6, for example, the centroid position of the identifier 6 or the intersection point connecting the image outline positions 64, etc. are obtained. The center position of the identifier 6 is registered as the in-image identifier position 61.

[0082] Two-dimensional coordinates are set in the captured image 7 to determine the in-image identifier position 61 on the captured image 7. In this specification, the two-dimensional coordinate system on the captured image 7 is referred to as the image coordinate system 71.

[0083] Figure 11 An example of the list representing the in-image identifier position 61 is shown. The identifier 6 given the in-image identifier position 61 as the center point of the region in the captured image 7 as the identifier 6 is assigned a unique identification number such as L1, L2. Here, an example of setting the in-image identifier position 61 is shown. At this stage, only the positions of the multiple identifiers 6 are determined from the captured image 7, and it is not possible to determine which of the identifiers 6a to 6p shown Figure 6 The corresponding one is, and unique identification cannot be performed. For this reason, as shown Figure 11 At this time point, the association between the identifier 6 and the world-known identifier position 62 does not hold.

[0084] Next, the flag recognition unit 102 performs flag recognition processing (step S103). Figure 10 It is a schematic diagram for explaining the process of determining the flag 5 from the captured image 7. In the flag recognition processing, the flag recognition unit 102 determines the position of the flag 5 from the captured image 7 through image processing.

[0085] Figure 11 An example of a list showing the positions of the markers 51 within the image and the known marker positions 52 in the world. Identification numbers are assigned once to the markers 5 such as M1 and M2 at the positions of the markers 51 within the given image. Since the marker 5 is recognized, for example, the positions of the markers 51 of M1 and M2 are associated with Figure 5 the markers 5a and 5b shown.

[0086] An example of marker recognition processing is described. The marker recognition unit 102 obtains a light emission pattern based on consecutive captured images 7 and compares it with a pre-set light emission pattern to determine the position of the marker 5 in the captured image 7.

[0087] Next, the primary positioning unit 104 performs a positioning possibility determination process (step S104). As the positioning possibility determination process, for example, the primary positioning unit 104 determines whether there are two or more markers 5 in the captured image 7 and whether positioning can be performed.

[0088] When positioning can be performed using the marker 5 (step S104 “Yes”), the primary positioning unit 104 performs a primary positioning process (step S105).

[0089] An example of the primary positioning process is described. As described above, since the markers 5a and 5b can be individually recognized from the captured image 7, the primary positioning unit 104 obtains the known marker positions 52 in the world of the markers 5a and 5b based on Figure 11 the corresponding relationship.

[0090] As the primary positioning process, for example, the primary positioning unit 104 performs primary positioning on the imaging unit 2 through PnP positioning processing based on the positions of the markers 51 within the image and the known marker positions 5 in the world.

[0091] As is known in the past, when the positions of a certain point group and the positions in the captured image 7 are given, the position and attitude of the imaging unit 2 are obtained through PnP positioning processing. When positioning is performed based on six points, the position and imaging direction (in-plane orientation, elevation angle) of the imaging unit 2 are obtained. Even when the number of points is less than six, for example, when the imaging unit 2 is located on a plane parallel to the ceiling 4 provided with the marker 5 and the identifier 6, although the accuracy is not high, the position and elevation angle of the imaging unit 2 can still be obtained based on positioning with only two points.

[0092] Since the moving body 3 moves on the ground parallel to the ceiling 4, the primary world imaging position 23, which is the primary position and elevation angle of the imaging unit 2, is obtained by the primary positioning unit 104 through the P2P method. Using Figure 11The image marker positions 51 represented by the identification numbers M1 and M2 shown and the world-known marker positions 52 represented by the identification numbers 5a and 5b are used by the P2P method to position the primary world imaging position 23, which is the position of the imaging unit 2 as the primary position, by the primary positioning unit 104.

[0093] When positioning cannot be performed using the marker 5 (step S104 "No"), the primary positioning unit 104 performs a position estimation process (step S106). As the position estimation process, for example, the primary positioning unit 104 estimates the position of the imaging unit 2 based on the previous determined world imaging unit position 24 and the movement vector history, and sets it as the primary positioning result.

[0094] Next, the calculation unit 105 performs an identifier recognition process (step S107). As the identifier recognition process, for example, the calculation unit 105 determines whether an identifier 6 exists in the captured image 7.

[0095] When the identifier 6 does not exist in the captured image 7 (step S107 "No"), the primary positioning unit 104 performs a primary positioning result application process (step S111). In the primary positioning result application process, for example, the primary positioning unit 104 applies the primary positioning result as the determined positioning result.

[0096] When the identifier 6 exists in the captured image 7 (step S107 "Yes"), the calculation unit 105 performs an identifier 6 position calculation process (hereinafter referred to as the identifier position calculation process) (step S108). As the identifier position calculation process, when imaging the world-known identifier position 62 from the primary world imaging position 23 obtained based on the primary positioning result, the calculation unit 105 calculates the position where the world-known identifier position 62 is imaged in the captured image 7. In other words, it calculates the position 63 of the identifier indicating the projection position (hereinafter referred to as the calculated identifier position 63).

[0097] This calculation is a well-known process of calculating how an arbitrary three-dimensional point specified is drawn on the image by inverse calculation from the position / attitude of the imaging unit 2. Additionally, the calculation itself is a simple matrix calculation. For this reason, it becomes a projection in an infinite field of view, and the back side of the world imaging unit position is also projected onto a plane. And if the PnP positioning process is performed like this, the calculation will not hold or a large error will occur. For this reason, when imaging is performed from the primary world imaging position 23 obtained by primary positioning, after only selecting the identifier 6 at the world-known identifier position 62 that is roughly within the imaging perspective, the calculation is performed.

[0098] Figure 12The known world identifier position 62 and its drawing position on the captured image 7 represent the calculated identifier position 63. The identification number of the calculated identifier position 63 calculated for the identification number 6a of the known world identifier position 62 is written as 6a-C.

[0099] The determining and positioning unit 107 performs an association process (step S109). As an association process, for example, the determining and positioning unit 107 establishes a correspondence between the in-image identifier position 61 and the calculated identifier position 63 based on the positional relationship on the same camera image, and associates the identifier 6 with the world known identifier position 62 which is the calculation source of the calculated identifier position 63.

[0100] Figure 13A , Figure 13B , Figure 13C The relationship between the calculated identifier position 63 and the identifier position 61 in the image is shown. Figure 13A As shown in FIG. 5 , the calculated identifier position 63 of the world known identifier position 62 on the captured image 7 including the world known marker position 52 is plotted on the image coordinate system 71. Figure 13B As shown, the in-image identifier position 61 of the identifier 6 including the in-image mark position 51 is drawn on the image coordinate system 71 . Figure 13C This is an enlarged view of the upper right of the image coordinate system 71 when these are overlapped. The calculated identifier position 63 is similar to the identifier position 61 in the image, but there is a slight deviation in the amount of positioning error. The points that are closest or surrounding and are in a positional relationship that does not destroy the mutual positional relationship are associated with each other. Figure 13C In the figure, the calculated identifier position 63 of the identification number 6p-C and the in-image identifier position 61 of the identification number L13 are drawn adjacent to each other, and the calculated identifier position 63 of the identification number 6o-C and the in-image identifier position 61 of the identification number L14 are drawn adjacent to each other. These are respectively regarded as corresponding coordinate points and are associated or associated.

[0101] Figure 14 Similarly, a list of the calculated identifier position 63 and the in-image identifier position 61 associated by the positioning unit 107 is shown. The world known identifier position 62, which is the basis for calculating the calculated identifier position 63, is also displayed. The in-image identifier position 61 and the world known identifier position 62 are associated. The identifier 6, which is not recognized at this point in time although it is captured by the imaging unit 2, is recognized as the known identifier 6. The recognized identifier 6 is recognized and its position is known, so it is the same as the mark 5.

[0102] The primary positioning unit 104 obtains the primary world imaging position 23 of the imaging unit 2 based on the two marks 5. Figure 14In this way, associating the identifier 6 with the world-known identifier position 62 is equivalent to the marker 5 increasing from 2 to 18, including 16 recognized identifiers 6 from 6a to 6p.

[0103] Furthermore, the determination positioning unit 107 performs PnP positioning processing (step S110). Regarding the PnP positioning processing, the determination positioning unit 107 performs PnP positioning processing based on the world-known marker position 52, the world-known identifier position 62, the in-image marker position 51, and the in-image identifier position 61.

[0104] Although it is a P2P positioning calculation in one positioning, since it can create a P18P problem for positioning based on the imaging result of 18 three-dimensional known points, it becomes highly accurate.

[0105] Then, the output unit 108 outputs the result of the PnP positioning processing as the determined positioning result.

[0106] The processing unit 100 performs positioning end determination processing (step S112).

[0107] As the positioning end determination processing, when the positioning is ended (step S112 "yes"), the processing unit 100 ends the positioning processing. When the positioning is not ended (step S112 "no"), the processing unit 100 returns the positioning processing to A in the flowchart.

[0108] In this embodiment, P2P positioning processing is adopted in one positioning, and two markers 5 are used as the minimum number for one positioning. The minimum number of markers 5 can be in the form of taking 6, i.e., P6P, as the minimum. This is because, through P6P, the position and imaging direction of the imaging unit 2 can be derived. In addition, this embodiment is not limited to the above two points or six points and is effective for all PnP positioning processing.

[0109] <World-known outer shape position>

[0110] Above, the overall process of positioning has been described by taking the center position, i.e., the world-known identifier position 62, in the identifier 6 as an example. The following uses Figures 15 to 19 to illustrate the details of the case of using the position 65 around the world-known identifier position 62 (hereinafter referred to as the world-known outer shape position 65).

[0111] Figure 15 is a schematic diagram showing an example of the case where the identifier 6 is a quadrilateral and the world-known outer shape position 65 is used. Recognition numbers 100 to 130 are assigned to each identifier 6. For example, in Figure 5 the identifiers 6 given reference numerals such as 6a are assigned these recognition numbers. In the figure, arrows are used to represent the recognition numbers. The same applies hereinafter. Figure 16A andFigure 16B is a schematic diagram showing an example of allocating an identifier position to vertices for identifier 6. As Figure 15 shown, the illumination of a rectangle in a top view is also used as identifier 6. As Figure 16A shown, the process of attaching the drawing reference numerals 111 to 114 of the vertex portions to the world-known identifier position 62 is performed. Figure 16A In, an arrow is used for the drawing reference numeral. The same applies hereinafter. Thus, in the case of the quadrilateral identifier 6, three-dimensional positions are obtained at a total of five locations, namely, the world-known identifier position 62, which is the center position of the identifier 6, and the four corner world-known outer shape positions 65.

[0112] For Figure 16B the identifier 6 of an asymmetric polygon such as a non-rectangular trapezoid as shown, world-known identifier positions 62 can also be allocated to its vertex portions. Identification numbers 200 to 204 are respectively assigned. The identifier 6 forming such an asymmetric polygon, unlike the square identifier 6, can determine and identify the position by referring to the database 19 through the particularity of its shape. In this case, the identifier 6 can be used for one-time positioning in the same manner as the marker 5. And positioning can also be performed in the absence of the marker 5.

[0113] In Figure 16A , Figure 16B the examples of are all one form of a quadrilateral, but are not limited to this shape. For example, in the case of a triangle, a pentagon or more, each vertex can also be added as the world-known outer shape position 65, and the image outer shape positions 64 of the vertices are respectively obtained for secondary positioning.

[0114] <World-known identifier position extraction process>

[0115] Figure 17 is a flowchart showing the process flow of the process for the case where the identifier 6 is a polygon. The world-known identifier position 62 and the world-known outer shape position 65 are extracted by the process executed by the processing unit 100.

[0116] If the creation of the table of the identifier positions 61 in the image starts, first, the image processing unit 101 performs an identifier recognition process (step S201). In the identifier recognition process, for example, the image processing unit 101 extracts the regions with saturated brightness in the captured image 7 and assigns a primary identification number to the extracted regions.

[0117] Furthermore, the image processing unit 101 performs an identifier selection process (step S202). As the identifier selection process, for example, the image processing unit 101 performs shape-based picking on the obtained regions. The image processing unit 101 extracts, for example, ellipses and quadrilaterals and excludes the regions overlapping the image edge.

[0118] Next, the image processing unit 101 performs table creation processing (step S203). The table creation processing is, for example, a process of registering the candidate regions extracted by the image processing unit 101 in a single table.

[0119] The identifier recognition unit 106 performs selection processing (step S204). The extraction processing is, for example, the identifier recognition unit 106 selects one region.

[0120] The identifier recognition unit 106 performs size determination processing. As the size determination processing, for example, the identifier recognition unit 106 determines whether the size in the captured image 7 of the identifier 6 is equal to or greater than a given size. The so-called given size is, for example, a size of 7×7 in terms of the pixels of the captured image 7.

[0121] Reference Figure 18A 、 Figure 18B To illustrate the size determination processing. In the case of an image captured from a distance and being small, if the points on the four corners of the image are used, errors may sometimes occur. Therefore, in the size determination processing, in order to avoid the determination with a high possibility of generating errors, it is determined whether the region that is a candidate for the identifier 6 is of a given size.

[0122] When the extracted region is equal to or greater than the specified size (step S205 "Yes"), the identifier recognition unit 106 performs vertex registration processing (step S206). As the vertex registration processing, for example, the identifier recognition unit 106 registers the four vertices of the identifier 6 in the shape of a quadrilateral as the image outer shape position 64. As Figure 18A shown, when there is a candidate for obtaining the in-image identifier position 61 among the identifiers 6, only the local region 612 located at the center of the region 611 may be used. In addition, there is Figure 18B shown that although it can be seen as a polygon, the boundary is blurred and the vertices are not distinct. In such a case, the local region 612 located at the center of the region 611 can also be used.

[0123] Next, the identifier recognition unit 106 performs center registration processing (step S207). As the center registration processing, the identifier recognition unit 106 registers the center of the extracted region as the in-image identifier position 61 regardless of the size of the extracted region.

[0124] The processing unit 100 performs end determination processing (step S208).

[0125] When it does not end (step S208 "No"), the processing unit 100 returns the positioning process to step S204. When it ends (step S208 "Yes"), the processing unit 100 ends the creation of the table of the in-image identifier position 61.

[0126] Figure 19 Indicates the position of the vertex of the identifier 6 of such a polygon, identifying and registering the known world shape position 65 as an example of the known world identifier position 62. More than 10 bits are used for the center position, and 1 bit is used for the known world shape position 65 as the vertex.

[0127] In this embodiment, the identifier 6 of the polygon set in the environment can be used for positioning. As the identifier 6, if the indoor lighting is usually imaged, the brightness is reflected as a saturated area. Therefore, as the extraction of the initial identifier area candidate, it is only necessary to perform binarization according to the saturation value, and the image signal is very stable. In addition, lighting is generally set in an open area of the environment, and the shape is mostly a simple quadrilateral shape, which is suitable as the identifier 6 in this embodiment. The identifier 6 is not limited to lighting, and as long as it is a sign that can be easily detected stably in a simple manner in the scene, it can also be other methods. For example, a sign that can be seen at a glance due to being a high-chroma object in a low-chroma environment can be binarized according to a specific high chroma threshold, so it is considered as another method.

[0128] Using the identifier 6 with a polygonal shape, as a form of the known world identifier position 62, the known world shape position 65 is used in the PnP positioning. It is possible to increase the n of the PnP positioning process without increasing lighting, and improve the accuracy of the PnP positioning process.

[0129] When the size of the identifier 6 in the captured image 7 is smaller than a given size, the processing unit 100 included in the information processing device 10 acquires the center position of the identifier 6, and acquires the identifier position 61 in the image based on this center position.

[0130] Optimizing the known world identifier position 62 in the PnP positioning process can obtain higher positioning accuracy.

[0131] (Deformation example of the sign)

[0132] In the above positioning process, as one of the methods of primary positioning, the sign 5 with an identification function is used. Other methods can also be used for primary positioning. Examples are listed below.

[0133] In the case where the PnP positioning process of the determination positioning unit 107 could not be performed in the initial state but has just been completed, since the current position can be estimated by difference based on the past position and the last vector, it can be set as the primary world imaging position 23.

[0134] The imaging unit 2 can image the QR code, and the position of the imaging unit 2 can be set once based on the code and the imaging angle of the imaging unit 2. Additionally, when recognizing the positioning of a QR code or the like, it is preferable to display the QR code over a relatively large area on the imaging screen.

[0135] As a specific point, for example, an infrared sensor is prepared, and the position of the imaging unit 2 can be set once based on the detection of the passage of the specific point. When the imaging unit 2 is provided on the moving body 3, if it is ensured that the starting point of the moving body 3 is the specific point, the position of the imaging unit 2 can be set once based on the position of the specific point. The information of this specific point can be stored in the database 19 as the Figure 1 imaging unit setting parameter 26 shown. For example, if starting from a charging station, as long as the identification number of the charging station is known, the position of the imaging unit 2 can be set once. In addition, the elevation angle, focal length, presence or absence of the autofocus function, etc. of the imaging unit 2 can be stored in the database 19 as the Figure 1 imaging unit internal parameter 25 shown. In addition, these various methods can also be combined. However, the method of using the marker 5 with an identification function, especially the marker 5 that is identified by the color change signal of the light emitter, is suitable for performing primary positioning of a large area with relatively high precision.

[0136] As described above, it is not limited to the marker 5 in the above-described embodiment that performs optical communication by changing the light emission form. As shown in the modified example, other types of markers 5 can also be used.

[0137] Next, an example of the processing after recognizing the position 62 of the world-known identifier on the captured image 7 will be described.

[0138] Figure 20A 、 Figure 20B 、 Figure 20C 、 Figure 20D 、 Figure 20E shows a more specific positioning process using the ceiling 4 provided with the marker 5 and the identifier 6. The recognized identifier 6 is recognized in the same way as the marker 5. In the following description, the primary positioning unit 104 uses the recognized position 62 of the world-known identifier and the marker 5 in the primary positioning in the same way.

[0139] Additionally, in Figure 20A 、 Figure 20B 、 Figure 20C 、 Figure 20D 、 Figure 20E for convenience of explanation, the marker 5 and the identifier 6 are neatly arranged, and a structure is assumed in which the imaging unit 2 is provided perpendicular to these settings. In the figure, the regions at the four corners represent the imaging range of the captured image 7. Figure 20AIndicates the initial state. Photograph the marker 5 to recognize the position 51 of the marker in the image. Then, obtain the position 61 of the identifier in the image. In the sense that the marker 5 is recognized, it is blacked out in Figure 20A .

[0140] Based on the position 51 of the marker in the image and the known position 52 of the marker in the world, calculate the first world photographing position 23 of the photographing unit 2. Then, calculate the calculated identifier position 63 in the case of photographing the identifier 6 located at the known world identifier position 62 from the first world photographing position 23. That is, perform projection calculation processing. Then, by establishing correspondence between adjacent points, the identifier 6 at the image internal identifier position 61 is associated with the known world identifier position 62 of the calculation source. Thus, the identifier 6 captured in the photographed image 7 is recognized as an identified identifier 6 with a known position. Here, the identifier 6 becomes an identified index similar to the marker 5. As a schematic showing this situation, Figure 20A the identifier 6 marked with a white circle in Figure 20B is blacked out in

[0141] In the case of continuous movement from the moving body 3, the photographed image 7 photographed by the photographing unit 2 changes as Figure 20C shown. Here, through image processing, the association between the image internal identifier position 61 in the photographed image 7 and the known world identifier position 62 is maintained. In Figure 20C , the blacked-out marker 5 indicating recognition and the image internal marker position 51 and the image internal identifier position 61 of the identifier 6 are maintained. The Figure 20C four blacked-out points in the photographed image 7 of Figure 20A are recognized, and thus, similar to the image internal marker position 51 in Figure 20C , can be used in the first positioning of the photographing unit 2. Then, through comparison with the calculated identifier position 63, Figure 20C the image internal identifier position 61 in the photographed image 7 of Figure 20D is newly associated with the known world identifier position 62 and becomes an identified index similar to the marker 5. As a schematic showing this situation, the identifier 6 marked with a white circle in

[0142] is blacked out in Figure 20E Repeat this process. Figure 20C Further shows the photographed image 7 when the moving body 3 moves. At this time point, due to the image internal marker position 51 of the marker 5 not being in the photographed image 7. The first positioning unit 104 performs first positioning on the position of the photographing unit 2 based on the recognized identifier 6, and further, the positioning unit 107 determines the position of the photographing unit 2 for definite positioning.

[0143] Accordingly, only the marker 5 is set near the initial position of the action. Thereafter, by continuously positioning and recognizing the identifier 6, it is possible to set the marker 5 such that it is only at the initial position while covering a large area. That is, regarding the transfer of processing using the marker 5, even if the marker 5 is not included in the captured image 7, as long as the identifier 6 is included, the position of the world camera unit 24 of the camera unit 2 can be derived.

[0144] <Effects of the Embodiment>

[0145] The information processing apparatus 10 includes a processing unit 100 that performs the following processing: Based on the captured image 7 including the identifier 6 provided in the space captured by the camera unit 2, a plurality of image contour positions 64 in the image coordinate system 71 are obtained from the contour of the identifier 6 through image processing, and based on the image contour positions 64 and the known three-dimensional positions of the contour of the identifier in the world coordinate system 70, i.e., the world known contour positions 65, the position of the camera unit 2 is determined.

[0146] Accordingly, it is possible to implement the information processing apparatus 10 that can derive a positioning result with high position accuracy only through the existing identifier 6 or illumination. There is no difficulty in high-precision tracing caused by radio wave utilization. In addition, unlike Visual-SLAM and LiDAR-SLAM, there is no problem of difficult to ensure definite positioning, and no loop closure problem will occur. A practical positioning system can be constructed.

[0147] Accordingly, the processing unit 100 of the information processing apparatus 10 obtains at least one of the vertex positions of the contour and the center position derived from the vertex positions of the contour as the image contour position 64.

[0148] Accordingly, by using a polygonal illumination for positioning, the degree of freedom of positioning is expanded and the positioning accuracy is improved. The minimum number of vertices is 3 points for a triangle, which is 2 or more, the minimum number required for the PnP positioning process. In addition, by obtaining the center position, at least one position serving as a reference for positioning is provided.

[0149] The processing unit 100 of the information processing apparatus 10 determines the position of the camera unit 2 based on the image contour position 64 of the identifier 6 having an asymmetric contour.

[0150] Accordingly, since the asymmetric contour can be compared with the database 19 to establish a correspondence between the image contour position 64 and the world known contour position 65 and determine the orientation, the PnP positioning process can be performed even without the marker 5.

[0151] The processing unit 100 included in the information processing apparatus 10 determines the position of the imaging unit based on the image contour position 64 of the identifier 6 having a size greater than or equal to a given size on the captured imaging image 7.

[0152] Thereby, the resolution of the coordinates for positioning on the imaging image 7 becomes a certain level or higher, and the reliability of the positioning accuracy is improved.

[0153] When the size of the identifier 6 in the imaging image 7 is smaller than the given size, the processing unit 100 included in the information processing apparatus acquires the center position of the identifier 6 and determines the position of the imaging unit based on the center position.

[0154] Thereby, the resolution of the coordinates for positioning on the imaging image 7 becomes a certain level or higher, and the reliability of the positioning accuracy is improved. By using the center point, at least one positioning position is provided, and the positioning accuracy is improved.

[0155] The processing unit 100 included in the information processing apparatus 10 acquires a primary world imaging position 23 of the imaging unit 2 based on the image contour position 64 of the identifier 6 and the world known contour position 65, and based on the primary world imaging position 23 and the world known identifier position 62 representing the known three-dimensional position of the identifier 6 in the world coordinate system 70, establishes a correspondence between the in-image identifier position 61 representing the position of the identifier 6 on the imaging image 7 and the world known identifier position 62, and determines the position of the imaging unit 2 based on the in-image identifier position 61 and the world known identifier position 62.

[0156] Thereby, in the secondary positioning, the number n of the PnP positioning processes, that is, the reference positions for positioning, is increased, and the positioning accuracy is improved.

[0157] In addition, the program of the present embodiment executes the following functions: based on the imaging image 7 including the identifier 6 provided in the space imaged by the imaging unit 2, multiple image contour positions 64 in the image coordinate system 71 are obtained from the contour of the identifier 6 through image processing; based on the image contour positions 64 and the world known contour position 65 representing the known three-dimensional position of the contour of the identifier 6 in the world coordinate system 70, the position of the imaging unit 2 is determined.

[0158] Thereby, a program is provided that derives a positioning result with high position accuracy only through the existing identifier 6 or illumination.

[0159] In addition, the positioning method of the present embodiment includes the following steps: Based on a captured image 7 including an identifier 6 provided in the space captured by the imaging unit 2, a plurality of image outline positions 64 in an image coordinate system 71 are obtained from the outline of the identifier 6 through image processing; based on the image outline positions 64 and a world known outline position 65 representing a known three-dimensional position of the outline of the identifier 6 in a world coordinate system 70, the position of the imaging unit 2 is determined.

[0160] Provide a method for deriving a positioning result with high position accuracy only through an existing identifier 6 or illumination.

[0161] The positioning process using the identifier 6 has been described above. In addition, the present invention is not limited to the above-described embodiments and modified examples, and modifications, improvements, etc. within the scope that can achieve the object of the present invention are included in the present invention.

[0162] In addition, in the above-described embodiment, the information processing device 10 of the present invention has been described by taking a forklift as an example of a moving body 3, but it is not particularly limited thereto. For example, the present invention can generally be applied to electronic devices having an image processing function. Specifically, for example, the present invention can be applied to a notebook personal computer, a portable navigation device, a portable telephone, a smart phone, a handheld game console, etc.

[0163] The above series of processes can be executed by hardware or by software. In other words, Figure 4 The functional structure is only an example and is not particularly limited. That is, it is sufficient that the information processing device 10 has a function capable of executing the above series of processes as a whole, and it is not particularly limited to Figure 4 the example of.

[0164] In addition, one functional block can be constituted by hardware alone, by software alone, or by a combination thereof. The functional structure in the present embodiment is implemented by a processor 11 that executes arithmetic processing. The processor 11 that can be used in the present embodiment includes, in addition to a processor constituted by a single processor, a multi-processor, a multi-core processor, and other various processing devices alone, a solution obtained by combining these various processing devices and a processing circuit such as an ASIC (application specific integrated circuit) and an FPGA (Field-Programmable Gate Array).

[0165] In the case where a series of processes are executed by software, the program constituting the software is installed on a computer or the like from a network or a recording medium. The computer may be a computer incorporated into dedicated hardware. In addition, the computer may be a computer that can execute various functions by installing various programs, such as a general-purpose personal computer.

[0166] The recording medium containing such a program is distributed separately from the device main body not only to provide the program to the user, but also consists of a recording medium or the like provided to the user in a state of being pre-loaded into the device main body. The removable medium is constituted by, for example, a magnetic disk (including a floppy disk), an optical disk, or an optical magnetic disk. The optical disk is constituted by, for example, a CD-ROM (Compact Disk-Read Only Memory), a DVD (Digital Versatile Disk), a Blu-ray (registered trademark) Disc, etc. The optical magnetic disk is constituted by an MD (Mini-Disk) or the like. In addition, the recording medium provided to the user in a state of being pre-loaded into the device main body is constituted by, for example, a ROM 12 recording a program, a hard disk (not shown), etc.

[0167] In addition, in this specification, the steps of the program recorded on the recording medium of course include the processes performed in sequence in time series along it, but the processes are not necessarily performed in time series, and also include processes performed in parallel or individually. In addition, in this specification, the term "system" means the entire device constituted by a plurality of devices, a plurality of means, etc.

[0168] Several embodiments of the present invention have been described above, but these embodiments are merely illustrative and do not limit the technical scope of the present invention. The present invention can take various other embodiments, and furthermore, various changes such as omission and substitution can be made without departing from the gist of the present invention. These embodiments and their modifications are included in the scope and gist of the invention described in this specification and the like, and are included in the scope of the invention described in the claims and its equivalents.

Claims

1. An information processing apparatus, characterized in that, it includes one or more processing units, and the one or more processing units perform the following processing: Based on an image captured by an imaging unit that includes an identifier having an asymmetric shape provided in a space, obtain positions at a plurality of vertices of the shape of the identifier in an image coordinate system, Based on a plurality of positions in the shape of the identifier in the image coordinate system and positions corresponding to a plurality of vertices of the shape of the identifier in a world coordinate system, determine the position of the imaging unit, The identifier is different from a marker that obtains a light emission pattern based on consecutive images captured and determines a position in the image based on the light emission pattern, and uses brightness or chromaticity to determine a region.

2. The information processing apparatus according to claim 1, characterized in that, the one or more processing units perform the following processing: Obtain at least any one of the vertex positions of the shape and the center position derived from the vertex positions of the shape as a position in the shape of the identifier in the image coordinate system.

3. The information processing apparatus according to claim 1, characterized in that, the one or more processing units perform the following processing: Judge whether the size of the identifier in the image is equal to or greater than a given value, When it is judged that the size of the identifier is equal to or greater than a given value, determine the position of the imaging unit based on a plurality of positions in the shape of the identifier in the image coordinate system.

4. The information processing apparatus according to claim 2, characterized in that, the one or more processing units perform the following processing: Judge whether the size of the identifier in the image is smaller than a given value, When it is judged that the size of the identifier is smaller than a given value, obtain the position of the identifier, and determine the position of the imaging unit based on the center position.

5. The information processing apparatus according to any one of claims 1 to 4, characterized in that, the one or more processing units perform the following processing: Based on the position in the shape of the identifier in the image coordinate system and the position of the shape of the identifier in the world coordinate system, obtain a temporary position of the imaging unit, Based on the temporary position of the imaging unit and the known position of the identifier in the world coordinate system, establish a correspondence between the position of the identifier in the image coordinate system and the known position of the identifier in the world coordinate system, Based on the established corresponding positions of the identifier in the image coordinate system and the known position of the identifier in the world coordinate system, determine the position of the imaging unit.

6. A storage medium, which is a non-temporary computer-readable storage medium for recording a program, characterized in that, the program causes a computer to perform the following processing: Based on an image captured by an imaging unit that includes an identifier having an asymmetric shape provided in a space, obtain positions at a plurality of vertices of the shape of the identifier in an image coordinate system, Determine the position of the imaging unit based on multiple positions on the contour of the identifier in the image coordinate system and the positions corresponding to multiple vertices of the contour of the identifier in the world coordinate system. The identifier is different from a marker that obtains a light emission pattern based on consecutive images captured and determines its position in the image based on the light emission pattern, and determines a region using brightness or chromaticity.

7. A positioning method Characterized in that it includes the following steps: Based on an image captured by an imaging unit that includes an identifier with an asymmetric contour provided in a space, obtain the positions at multiple vertices of the contour of the identifier in the image coordinate system; and Determine the position of the imaging unit based on multiple positions on the contour of the identifier in the image coordinate system and the positions corresponding to multiple vertices of the contour of the identifier in the world coordinate system. The identifier is different from a marker that obtains a light emission pattern based on consecutive images captured and determines its position in the image based on the light emission pattern, and determines a region using brightness or chromaticity.

Images