Detection method and computer

Abstract

To provide a new detection method and a computer, for position detection from an image in the three-dimensional coordinate or the like of a predetermined position in an object.SOLUTION: The detection method includes a step for aligning the predetermined position A of an object 10 with the reference point O of an alignment member 7 in which an alignment marker 71 is arranged, a step for imaging the alignment marker 71 and a first marker 11, a step for acquiring the information of the relative three-dimensional coordinate of the predetermined position A of the object 10 with respect to the position of the first marker 11 attached to the object 10 on the basis of the captured image, and a step for imaging a second marker 14 attached to a member 13 different from the object 10 and the first marker 11 of the object 10, to detect the relative three-dimensional coordinate of the predetermined position A of the object 10 with respect to the different member 13 from the image including the captured first marker 11 and second marker 14 on the basis of the acquired three-dimensional coordinate.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a sensing method and a computer. [Background technology]

[0002] Conventionally, there is known a technique for measuring the position and orientation of an object from an image of a marker attached to the object by capturing an image of the marker with a camera. For example, Patent Document 1 discloses a marker that can be attached to an object. A typical marker is a planar pattern that can be attached to an object. A typical marker includes a square black frame and a two-dimensional pattern code printed inside the frame. Then, by capturing an image of the marker with a camera, the relative position and orientation of the marker and the camera can be recognized, and the position and orientation of the object to which the marker is attached can be recognized. In addition, the camera can read information recorded in the marker. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2012-145559 A Summary of the Invention [Problem to be solved by the invention]

[0004] There is a demand for technology that can detect the three-dimensional coordinates of a specific position on an object to which a marker is attached, which is difficult to image using a camera, and the three-dimensional direction vector of a specific direction related to this specific position, from an image of the marker, but such technology has not been known until now.

[0005] The present disclosure has been made in consideration of these points, and aims to provide a new detection method and computer for detecting, from an image of a marker, the three-dimensional coordinates of a specific position on an object to which a marker is attached, and a three-dimensional directional vector in a specific direction related to this specific position. [Means for solving the problem]

[0006] The detection method of the present disclosure includes: 1. A method for detecting a predetermined position of an object having a first marker attached thereto, comprising: aligning the predetermined position of the object with a predetermined reference point of an alignment member on which an alignment marker is arranged; capturing an image of the alignment marker and the first marker disposed on the alignment member; acquiring information on three-dimensional coordinates of the predetermined position of the object relative to a position of the first marker attached to the object based on an image including the alignment marker and the first marker that has been captured; and detecting, based on the acquired three-dimensional coordinates, from an image including the captured first marker and the captured second marker, the relative three-dimensional coordinates of the predetermined position of the object with respect to the other member.

[0007] The detection method of the present disclosure includes: 1. A method for detecting a direction to a predetermined position of an object having a first marker attached thereto, comprising: aligning the predetermined position of the object with a predetermined reference point of an alignment member on which an alignment marker is arranged; capturing an image of the alignment marker and the first marker disposed on the alignment member; acquiring information on a relative three-dimensional direction vector of the predetermined position of the object with respect to the first marker attached to the object based on an image including the captured alignment marker and the first marker; detecting a relative three-dimensional direction vector of a direction from the first marker to the predetermined position with respect to the other member from an image including the first marker and the second marker captured based on the three-dimensional direction vector acquired by capturing an image of the first marker and the second marker, the relative three-dimensional direction vector being obtained by capturing an image of the first marker and the second marker, the relative three-dimensional direction vector being obtained by capturing an image of the first marker and the second marker based on the three-dimensional direction vector acquired by capturing an image of the first marker and the second marker. Equipped with.

[0008] The detection method of the present disclosure includes: 1. A method for detecting a predetermined position and a direction to the predetermined position of an object having a first marker attached thereto, comprising: aligning the predetermined position of the object with a predetermined reference point of an alignment member on which an alignment marker is arranged; capturing an image of the alignment marker and the first marker disposed on the alignment member; acquiring information on three-dimensional coordinates of the predetermined position of the object relative to a position of the first marker attached to the object based on an image including the captured alignment marker and the first marker, and acquiring information on a three-dimensional direction vector of the object relative to the first marker; a step of detecting, from an image including the captured first marker and the captured first marker, a relative three-dimensional coordinate of the predetermined position of the object with respect to the other member and a relative three-dimensional direction vector of a direction from the first marker to the predetermined position with respect to the other member, based on the acquired three-dimensional coordinate and the three-dimensional direction vector by capturing an image of the captured first marker and the captured second marker; Equipped with.

[0009] In the detection method of the present disclosure, The alignment member may have a flat surface, on which a predetermined reference point is formed and on which the alignment marker is disposed.

[0010] The detection method of the present disclosure includes: 1. A method for detecting a predetermined position of an object having a first marker attached thereto, comprising: A step of placing an alignment marker at a predetermined reference point of the alignment member and capturing an image of the alignment marker by an imaging device having a fixed position; aligning the predetermined position of the object with the predetermined reference point of the alignment member, and capturing an image of the first marker by the imaging device; acquiring information on three-dimensional coordinates of the predetermined position of the object relative to a position of the first marker attached to the object based on an image including the alignment marker and an image including the first marker; a step of detecting, based on the acquired three-dimensional coordinates by capturing an image of a second marker attached to a member other than the object and the first marker of the object, a relative three-dimensional coordinate of the predetermined position of the object with respect to the separate member from an image including the captured first marker and the captured second marker; Equipped with.

[0011] The detection method of the present disclosure includes: 1. A method for detecting a direction to a predetermined position of an object having a first marker attached thereto, comprising: A step of placing an alignment marker at a predetermined reference point of the alignment member and capturing an image of the alignment marker by an imaging device having a fixed position; aligning the predetermined position of the object with the predetermined reference point of the alignment member, and capturing an image of the first marker by the imaging device; acquiring information on a relative three-dimensional direction vector of the predetermined position of the object with respect to the first marker attached to the object based on an image including the captured alignment marker and an image including the captured first marker; detecting a relative three-dimensional direction vector of a direction from the first marker to the predetermined position with respect to the other member from an image including the first marker and the second marker captured based on the three-dimensional direction vector acquired by capturing an image of the first marker and the second marker, the relative three-dimensional direction vector being obtained by capturing an image of the first marker and the second marker, the relative three-dimensional direction vector being obtained by capturing an image of the first marker and the second marker based on the three-dimensional direction vector acquired by capturing an image of the first marker and the second marker. Equipped with.

[0012] The detection method of the present disclosure includes: 1. A method for detecting a predetermined position and a direction to the predetermined position of an object having a first marker attached thereto, comprising: A step of placing an alignment marker at a predetermined reference point of the alignment member and capturing an image of the alignment marker by an imaging device having a fixed position; aligning the predetermined position of the object with the predetermined reference point of the alignment member, and capturing an image of the first marker by the imaging device; acquiring information on three-dimensional coordinates of the predetermined position of the object relative to a position of the first marker attached to the object and information on a three-dimensional direction vector of the predetermined position of the object relative to the first marker, based on an image including the captured alignment marker and an image including the captured first marker; a step of detecting, from an image including the captured first marker and the captured first marker, a relative three-dimensional coordinate of the predetermined position of the object with respect to the other member and a relative three-dimensional direction vector of a direction from the first marker to the predetermined position with respect to the other member, based on the acquired three-dimensional coordinate and the three-dimensional direction vector by capturing an image of the captured first marker and the captured second marker; Equipped with.

[0013] In the detection method of the present disclosure, A recess may be formed at the reference point of the alignment member, and the predetermined position of the object may be aligned with the reference point by inserting a portion of the object at the predetermined position into the recess.

[0014] The detection method of the present disclosure includes: placing an alignment marker at a predetermined position of the object to which the first marker is attached, and capturing an image of the first marker and the alignment marker; acquiring information on three-dimensional coordinates of the predetermined position of the object relative to a position of the first marker attached to the object based on an image including the alignment marker and the first marker that has been captured; a step of detecting, based on the acquired three-dimensional coordinates by capturing an image of a second marker attached to a member other than the object and the first marker of the object, a relative three-dimensional coordinate of the predetermined position of the object with respect to the separate member from an image including the captured first marker and the captured second marker; Equipped with.

[0015] The detection method of the present disclosure includes: placing an alignment marker at a predetermined position of the object to which the first marker is attached, and capturing an image of the first marker and the alignment marker; acquiring information on a three-dimensional direction vector in a predetermined direction extending from the predetermined position perpendicularly to the first marker based on an image including the alignment marker and the first marker that has been captured; a step of detecting a relative three-dimensional direction vector of the predetermined direction with respect to the other member from an image including the captured first marker and the captured second marker based on the three-dimensional direction vector obtained by capturing an image of a second marker attached to a member other than the object and the first marker of the object; Equipped with.

[0016] The detection method of the present disclosure includes: placing an alignment marker at a predetermined position of the object to which the first marker is attached, and capturing an image of the first marker and the alignment marker; acquiring information on three-dimensional coordinates of the predetermined position of the object relative to a position of the first marker attached to the object, and information on a three-dimensional direction vector of a predetermined direction extending perpendicularly from the predetermined position to the first marker, based on an image including the captured alignment marker and the first marker; a step of detecting, from an image including the captured first marker and the captured first marker, a relative three-dimensional coordinate of the predetermined position of the object with respect to the other member and a relative three-dimensional direction vector of the predetermined direction with respect to the other member, based on the acquired three-dimensional coordinate and the three-dimensional direction vector by capturing an image of the captured first marker and the captured second marker; Equipped with.

[0017] The detection method of the present disclosure includes: placing a first alignment marker at a first predetermined position of a first object to which a first marker is attached, and capturing an image of the first marker and the first alignment marker; acquiring information on three-dimensional coordinates of the first predetermined position of the first object relative to the position of the first marker attached to the first object based on an image including the captured first alignment marker and the first marker, and information on a three-dimensional direction vector of a first predetermined direction extending from the first predetermined position perpendicularly to the first alignment marker; placing a second alignment marker at a second predetermined position of a second object to which the second marker is attached, and capturing an image of the second marker and the second alignment marker; acquiring information on three-dimensional coordinates of the second predetermined position of the second object relative to the position of the second marker attached to the second object based on an image including the captured second alignment marker and the second marker, and information on a three-dimensional direction vector of a second predetermined direction extending from the second predetermined position perpendicularly to the second alignment marker; capturing an image of the first marker of the first object and the second marker of the second object, and detecting, from an image including the captured first marker and the second marker, a relative three-dimensional coordinate of the first predetermined position of the first object with respect to the second predetermined position of the second object and a relative three-dimensional direction vector of the first predetermined direction of the first object with respect to the second predetermined direction of the second object; Equipped with.

[0018] The detection method of the present disclosure includes: 1. A method for detecting a predetermined position of an object having a first marker attached thereto, comprising: acquiring information on three-dimensional coordinates of the predetermined position of the object relative to a position of the first marker attached to the object; a step of detecting, based on the acquired three-dimensional coordinates by capturing an image of a second marker attached to a member other than the object and the first marker of the object, a relative three-dimensional coordinate of the predetermined position of the object with respect to the separate member from an image including the captured first marker and the captured second marker; Equipped with.

[0019] The detection method of the present disclosure includes: 1. A method for detecting a direction to a predetermined position of an object having a first marker attached thereto, comprising: acquiring information on a relative three-dimensional direction vector of the predetermined position of the object with respect to the first marker attached to the object; detecting a relative three-dimensional direction vector of a direction from the first marker to the predetermined position with respect to the other member from an image including the first marker and the second marker captured based on the three-dimensional direction vector acquired by capturing an image of the first marker and the second marker, the relative three-dimensional direction vector being obtained by capturing an image of the first marker and the second marker, the relative three-dimensional direction vector being obtained by capturing an image of the first marker and the second marker based on the three-dimensional direction vector acquired by capturing an image of the first marker and the second marker. Equipped with.

[0020] The detection method of the present disclosure includes: 1. A method for detecting a predetermined position and a direction to the predetermined position of an object having a first marker attached thereto, comprising: acquiring information on three-dimensional coordinates of the predetermined position of the object relative to a position of the first marker attached to the object, and acquiring information on a three-dimensional direction vector of the object relative to the first marker; a step of detecting, from an image including the captured first marker and the captured first marker, a relative three-dimensional coordinate of the predetermined position of the object with respect to the other member and a relative three-dimensional direction vector of a direction from the first marker to the predetermined position with respect to the other member, based on the acquired three-dimensional coordinate and the three-dimensional direction vector by capturing an image of the captured first marker and the captured second marker; Equipped with.

[0021] The computer of the present disclosure includes: The control unit executes the program, receiving an image of the alignment marker and the first marker when a predetermined position of the object to which the first marker is attached is aligned with a predetermined reference point of an alignment member on which the alignment marker is arranged; acquiring information on three-dimensional coordinates of the predetermined position of the object relative to a position of the first marker attached to the object, based on the received image including the alignment marker and the first marker; Based on the acquired three-dimensional coordinates, the relative three-dimensional coordinates of the specified position of the object with respect to the other member are detected from an image including a second marker attached to a member other than the object and the first marker of the object.

[0022] The computer of the present disclosure includes: The control unit executes the program, receiving an image of the alignment marker and the first marker when a predetermined position of the object to which the first marker is attached is aligned with a predetermined reference point of an alignment member on which the alignment marker is arranged; acquiring information on a three-dimensional direction vector of the predetermined position of the object relative to the first marker attached to the object, based on the received image including the alignment marker and the first marker; Based on the acquired three-dimensional coordinates, the relative three-dimensional coordinates of the specified position of the object with respect to the other member are detected from an image including a second marker attached to a member other than the object and the first marker of the object.

[0023] The computer of the present disclosure includes: The control unit executes the program, receiving an image of the alignment marker and the first marker when a predetermined position of the object to which the first marker is attached is aligned with a predetermined reference point of an alignment member on which the alignment marker is arranged; acquiring information on three-dimensional coordinates of the predetermined position of the object relative to a position of the first marker attached to the object, based on an image including the received alignment marker and the first marker, and acquiring information on a three-dimensional direction vector of the object relative to the first marker; Based on the acquired three-dimensional coordinates and three-dimensional direction vector, the relative three-dimensional coordinates of the specified position of the object relative to the other member and the relative three-dimensional direction vector of the direction from the first marker to the specified position relative to the other member are detected from an image including the first marker and the second marker.

[0024] The computer of the present disclosure includes: The control unit executes the program, receiving an image of the alignment marker captured by an imaging device that is fixed in position and that is disposed at a predetermined reference point of the alignment member; receiving an image of a first marker attached to the object captured by the imaging device when a predetermined position of the object is aligned with the predetermined reference point of the alignment member; acquiring information on three-dimensional coordinates of the predetermined position of the object relative to a position of the first marker attached to the object, based on the received image including the alignment marker and the received image including the first marker; Based on the acquired three-dimensional coordinates, the relative three-dimensional coordinates of the specified position of the object with respect to the other member are detected from an image including a second marker attached to a member other than the object and the first marker of the object.

[0025] The computer of the present disclosure includes: The control unit executes the program, receiving an image of the alignment marker captured by an imaging device that is fixed in position and that is disposed at a predetermined reference point of the alignment member; receiving an image of a first marker attached to the object captured by the imaging device when a predetermined position of the object is aligned with the predetermined reference point of the alignment member; acquiring information on a three-dimensional direction vector of the predetermined position of the object relative to the first marker attached to the object, based on the received image including the alignment marker and the received image including the first marker; Based on the acquired three-dimensional direction vector, a relative three-dimensional direction vector of the direction from the first marker to the specified position with respect to a second marker attached to a member other than the object is detected from an image including the first marker attached to the object and a second marker attached to the other member.

[0026] The computer of the present disclosure includes: The control unit executes the program, receiving an image of the alignment marker captured by an imaging device that is fixed in position and that is disposed at a predetermined reference point of the alignment member; receiving an image of a first marker attached to the object captured by the imaging device when a predetermined position of the object is aligned with the predetermined reference point of the alignment member; acquiring information on three-dimensional coordinates of the predetermined position of the object relative to a position of the first marker attached to the object and information on a three-dimensional direction vector of the predetermined position of the object relative to the first marker, based on the received image including the alignment marker and the received image including the first marker; Based on the acquired three-dimensional coordinates and three-dimensional direction vector, from an image including a second marker attached to a member other than the object and the first marker attached to the object, the relative three-dimensional coordinates of the specified position of the object with respect to the other member and the relative three-dimensional direction vector of the direction from the first marker to the specified position with respect to the other member are detected.

[0027] The computer of the present disclosure includes: The control unit executes the program, receiving an image of a first marker and the alignment marker attached to the object when the alignment marker is placed at a predetermined position on the object; acquiring information on three-dimensional coordinates of the predetermined position of the object relative to a position of the first marker attached to the object, based on the received image including the alignment marker and the first marker; Based on the acquired three-dimensional coordinates, the relative three-dimensional coordinates of the specified position of the object with respect to the other member are detected from an image including a second marker attached to a member other than the object and the first marker of the object.

[0028] The computer of the present disclosure includes: The control unit executes the program, receiving an image of a first marker and the alignment marker attached to the object when the alignment marker is placed at a predetermined position on the object; acquiring information on a three-dimensional direction vector in a predetermined direction extending perpendicularly from the predetermined position to the first marker based on the received image including the alignment marker and the first marker; Based on the acquired three-dimensional direction vector, a relative three-dimensional direction vector in the specified direction with respect to the other member is detected from an image including a second marker attached to a member other than the object and the first marker of the object.

[0029] The computer of the present disclosure includes: The control unit executes the program, receiving an image of a first marker and the alignment marker attached to the object when the alignment marker is placed at a predetermined position on the object; acquiring information on three-dimensional coordinates of the predetermined position of the object relative to a position of the first marker attached to the object, and information on a three-dimensional direction vector of a predetermined direction extending perpendicularly from the predetermined position to the first marker, based on an image including the received alignment marker and the first marker; Based on the acquired three-dimensional coordinates and three-dimensional direction vector, the relative three-dimensional coordinates of the specified position of the object with respect to the other member and the relative three-dimensional direction vector of the specified direction with respect to the other member are detected from an image including a second marker attached to a member other than the object and the first marker of the object.

[0030] The computer of the present disclosure includes: The control unit executes the program, receiving an image of the first alignment marker attached to the first object when the first alignment marker is placed at a first predetermined position on the first object; acquiring information on relative three-dimensional coordinates of the first predetermined position of the first object attached to the first object and information on a three-dimensional direction vector of a first predetermined direction extending from the first predetermined position perpendicular to the first alignment marker, based on the received image including the first alignment marker; receiving an image of the second alignment marker attached to the second object when the second alignment marker is disposed at a second predetermined position on the second object; acquiring information on relative three-dimensional coordinates of the second predetermined position of the second object attached to the second object and information on a three-dimensional direction vector of a second predetermined direction extending from the second predetermined position perpendicular to the second alignment marker, based on the received image including the second alignment marker; When an image including the first alignment marker of the first object and the second alignment marker of the second object is received, a relative three-dimensional coordinate of the first predetermined position of the first object relative to the second predetermined position of the second object and a relative three-dimensional direction vector of the first predetermined direction of the first object relative to the second predetermined direction of the second object are detected from the received image including the first alignment marker and the second alignment marker.

[0031] The computer of the present disclosure includes: The control unit executes the program, Acquire information on three-dimensional coordinates of a predetermined position of the object relative to a position of a first marker attached to the object; Based on the acquired three-dimensional coordinates, the relative three-dimensional coordinates of the specified position of the object with respect to the other member are detected from an image including a second marker attached to a member other than the object and the first marker of the object.

[0032] The computer of the present disclosure includes: The control unit executes the program, acquiring information on a three-dimensional direction vector of a predetermined position of an object relative to a first marker attached to the object; Based on the acquired three-dimensional coordinates, the relative three-dimensional coordinates of the specified position of the object with respect to the other member are detected from an image including a second marker attached to a member other than the object and the first marker of the object.

[0033] The computer of the present disclosure includes: The control unit executes the program, acquiring information on three-dimensional coordinates of a predetermined position of the object relative to a position of a first marker attached to the object, and acquiring information on a three-dimensional direction vector of the object relative to the first marker; Based on the acquired three-dimensional coordinates and three-dimensional direction vector, the relative three-dimensional coordinates of the specified position of the object relative to the other member and the relative three-dimensional direction vector of the direction from the first marker to the specified position relative to the other member are detected from an image including the first marker and the second marker. Effect of the Invention

[0034] According to the detection method and computer disclosed herein, a new detection method and computer can be obtained that detects the three-dimensional coordinates of a specific position on an object to which a marker is attached and a three-dimensional direction vector in a specific direction related to this specific position from an image of the marker. [Brief description of the drawings]

[0035] [Figure 1] 1 is a schematic diagram illustrating a configuration of a position detection system according to an embodiment of the present disclosure. [Diagram 2] FIG. 1 is a schematic diagram illustrating a method for calibrating a position sensing system according to an embodiment of the present disclosure. [Diagram 3] FIG. 1 is a schematic diagram showing one mode of use of a position detection system according to an embodiment of the present disclosure, for detecting a part that cannot be seen from the outside, such as inside a body of a human body. [Figure 4] 1 is a flowchart showing a flow of a calibration process in a position detection system according to an embodiment of the present disclosure. [Diagram 5] 1 is a flowchart showing a flow of a detection process in a position detection system according to an embodiment of the present disclosure. [Figure 6] FIG. 13 is a schematic diagram illustrating a modified example of the position detection system according to the embodiment of the present disclosure, in which an alignment marker is disposed at a predetermined position on an object. [Figure 7] FIG. 13 is a schematic diagram illustrating a configuration of a position detection system according to a modified example of the present disclosure when there are multiple targets. [Figure 8] FIG. 1 is a schematic diagram illustrating an example of a usage form of a position detection system according to an embodiment of the present disclosure. [Figure 9] FIG. 1 is a schematic diagram illustrating an example of a usage form of a position detection system according to an embodiment of the present disclosure. [Figure 10] FIG. 2 is a schematic diagram showing an example of a usage form of a position detection system according to an embodiment of the present disclosure, illustrating a form of drawing in a three-dimensional space. [Figure 11] FIG. 1 is a schematic diagram showing an example of a usage form of a position detection system according to an embodiment of the present disclosure, in which an object is used as a laser pointer. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0036] Hereinafter, an embodiment of the present disclosure will be described with reference to the drawings. Figs. 1 to 5 are diagrams showing a part of a position detection system according to an embodiment of the present disclosure. Of these, Fig. 1 is a schematic diagram showing a configuration of the position detection system according to this embodiment, and Fig. 2 is a schematic diagram showing a method of calibrating the position detection system according to this embodiment. Fig. 3 is a schematic diagram showing one mode of use of the position detection system according to this embodiment, which is a schematic diagram for detecting a part that cannot be seen from the outside, such as inside a body. Fig. 4 is a flowchart showing the flow of a calibration process in the position detection system according to this embodiment. Fig. 5 is a flowchart showing the flow of a detection process in the position detection system according to this embodiment.

[0037] -Location detection system 1- FIG. 1 is a block diagram showing a configuration of a position detection system 1 according to this embodiment. The position detection system 1 according to this embodiment includes a computer 2 and an imaging device 3. As shown in FIG. 2 and FIG. 3, the imaging device 3 is used for positioning an object (target object 10) to be detected, and captures an alignment marker 71 attached to an alignment member 7, a first marker 11 attached to an object having a predetermined length, and a second marker 14 attached to another member 13 (for example, a human body). Based on an image including the captured first marker 11 and alignment marker 71, the position detection system 1 acquires at least one of information on three-dimensional coordinates and information on three-dimensional direction vectors of the first marker 11 relative to the alignment marker 71, and measures the three-dimensional coordinates and three-dimensional direction vectors of a predetermined position (point A) relative to the first marker 11. For example, the computer 2 is connected to the imaging device 3 so as to be able to communicate with each other. The imaging device 3 and the computer 2 may be connected to each other so as to be able to communicate with each other via a communication network such as an Internet line. Each component of the position detection system 1 will be described below.

[0038] The alignment member 7 is a member used for calibration to define a predetermined position (A) of the object 10. The alignment member 7 is treated as a plate-like member or a virtual plane, and an alignment marker 71 is arranged on the alignment member 7. Here, the predetermined position (A) means a specific location on the object 10, and may be, for example, the tip of a rod-like member. In the present disclosure, the tip of a member having a longitudinal axis will be described as an example.

[0039] The alignment marker 71 is an AR marker that is disposed on the alignment member 7 and is used for calibration together with the first marker 11. Furthermore, the alignment marker 71 is disposed at a position on the virtual plane that does not overlap with a position defined as the origin (O).

[0040] The first marker 11 is an AR marker that is attached to an object (target object 10) having a predetermined length and is used to grasp the positional relationship of a predetermined position (A) of the target object 10. The size of the first marker 11 is such that it does not overlap with the alignment marker 71 when performing calibration.

[0041] The above-mentioned functions are achieved by capturing images of the alignment marker 71 and the first marker 11 using the imaging device 3.

[0042] <Computer 2 Configuration> The computer 2 can be used through a communication network such as the Internet. The computer 2 has a control unit 4, a storage unit 5, and a communication unit 6. The control unit 4 is composed of a microcomputer including a CPU and a semiconductor memory, and controls the operation of the computer 2. More specifically, the control unit 4 executes a program stored in the storage unit 5, thereby functioning as a receiving means 41, a calculating means 42, and a detecting means 43.

[0043] The accepting unit 41 accepts an image captured by the imaging device 3. For example, the accepting unit 41 accepts image data of the alignment marker 71, the first marker 11, and the second marker 14 captured by the imaging device 3.

[0044] The calculation means 42 acquires information on the relative three-dimensional coordinates of a predetermined position (A) of the object 10 with respect to the attachment position of the first marker 11 attached to the object 10, based on image data including at least the alignment marker 71 and the first marker 11. First, the calculation means 42 calculates a homogeneous transformation matrix c H m1 In addition, a homogeneous transformation matrix is ​​calculated based on the positions of the alignment marker 71 (m1) and the origin (O). O H m1 -1 At this time, the predetermined position (A) of the object 10 in the m2 coordinate system coincides with the origin (O). c H m1 and O H m1 -1 Based on c H O ( c H m1O H m1 -1 Note that a homogeneous transformation matrix is ​​used to efficiently calculate coordinate transformation and rigid body transformation using matrix calculations, and in three-dimensional space, it is expressed by the following equation.

[0045]

number

[0046] In addition, the calculation means 42 calculates a homogeneous transformation matrix based on the matrices at the positions of the imaging device 3 (point C) and the first marker 11 (point m2). c H m2 -1Then, the calculation means 42 calculates the calculated c H O and c H m2 -1 Based on m2 H O ( c H m2 -1 c H O In this state, since the inclination of the first marker 11 (point m2) and the origin (O) is reflected, for example, if the rotation matrix (R) is made non-rotating and the resulting translation vector is tx, ty, tz, the following equation is obtained.

[0047]

number

[0048] In this manner, calibration is performed in a state in which a predetermined position (A) of the target object 10 coincides with a predetermined reference point (origin (O)) of the alignment member 7.

[0049] The calculation means 42 calculates a homogeneous transformation matrix based on the matrices at the positions of the imaging device 3 (point C) and the first marker 11 (m2). c H m2 ,and, m2 H A Based on c H A ( c H m2m2 H A In this manner, the calculation means 42 sets the predetermined position (A) of the object 10 in a coordinate system centered on m2, calculates a homogeneous transformation matrix including a rotation matrix, and extracts a translation (position) component to determine the predetermined position (A) of the object 10 in the m2 coordinate system.

[0050] The detection means 43 captures an image of a second marker 14 attached to a member 13 separate from the object 10 and the first marker 11 of the object 10, and detects at least one of the relative three-dimensional coordinates and three-dimensional direction vectors of a predetermined position (A) of the object 10 relative to the other member 13 from an image including the captured first marker 11 and second marker 14 based on at least one of the acquired three-dimensional coordinates and three-dimensional direction vectors.

[0051] The other member 13 is a member to which the second marker 14 is attached, and is an object for which the location of the predetermined position (A) of the object 10 is determined from an image including the first marker 11 and the second marker 14. There are no particular limitations on what is used as the other member 13, and for example, when an endoscope is used as the object 10, the patient's body may be used as the other member 13.

[0052] The second marker 14 is an AR marker that is attached to another member 13 and is used to grasp the positional relationship between a predetermined position (A) of the object 10 and the other member 13 in cooperation with the first marker 11.

[0053] The programs executed by the control unit 4 are not limited to those stored in the storage unit 5. As the programs executed by the control unit 4, those transmitted from an external device to the control unit 4 via the communication unit 6, those stored in a storage medium such as a USB memory attached to the computer 2, those stored in a server (e.g., a cloud server) other than the computer 2, etc. may be used.

[0054] The storage unit 5 is composed of a hard disk drive (HDD), a random access memory (RAM), a read only memory (ROM), a solid state drive (SSD), etc. Various programs including a program executed by the control unit 4 are stored in the storage unit 5. The storage unit 5 also stores images captured by the imaging device 3. Details of the information stored in the storage unit 5 will be described later.

[0055] The communication unit 6 is, for example, a wired LAN (Local Area Network) module, a wireless LAN module, etc., and includes an interface for performing wired or wireless communication. That is, the communication unit 6 is configured from a communication interface configured to communicate with other devices via a communication network.

[0056] The imaging device 3 is a camera device that is provided in one or more units in the position detection system 1. The imaging device 3 is grounded or suspended, and is disposed in a position where it can capture images of the alignment marker 71, the first marker 11, the second marker 14, the reference point (origin (O)), and the target object 10, and captures these to obtain image data.

[0057] <Calibration process> First, the calibration process in this embodiment will be described with reference to the schematic diagram shown in Fig. 2 and the flow chart shown in Fig. 4. Note that the operation of the position detection system 1 described below is performed by the control unit 4 of the computer 2 executing a program stored in the storage unit 5.

[0058] First, the user places the alignment marker 71 on the alignment member 7 .

[0059] Next, the user aligns a predetermined position (A) of the target object 10 to which the first marker 11 is attached with a reference point (origin (O)) of the alignment member 7 on which the alignment marker 71 is disposed (step S10). At this time, the imaging device 3 is installed in a position where it can capture images of the alignment marker 71 and the first marker 11.

[0060] Next, the image capturing device 3 captures images of the alignment marker 71 and the first marker 11 (step S11). As a result, the image information defining the alignment member (virtual plane) 7 registered in the alignment marker 71 and the image information defining the target object 10 registered in the first marker 11, such as the position and arrangement relationship, are received and understood by the receiving means 41.

[0061] Next, the calculation means 42 acquires information on the relative three-dimensional coordinates of the predetermined position (A) of the object 10 with respect to the attachment position of the first marker 11 based on the images of the alignment marker 71 and the first marker 11 accepted by the acceptance means 41 (step S12). As a result, the predetermined position (A) of the object 10 is calibrated in a state where it coincides with a predetermined reference point (origin (O)) of the alignment member 7.

[0062] <Detection process> Next, the detection process after calibration in this embodiment will be described with reference to the schematic diagram shown in FIG. 3 and the flowchart shown in FIG.

[0063] First, the imaging device 3 captures images of the second marker 14 attached to the different member 13 and the first marker 11 of the object 10 on a virtual plane defined by the alignment marker 71 (step S13). As a result, information such as the position and arrangement relationship of the image information defining the different member 13 registered in the second marker 14 and the image information defining the object 10 registered in the first marker 11 is received and understood by the receiving means 41.

[0064] Next, based on the three-dimensional coordinates acquired in step S12 and the image information captured in step S13 and received by the receiving means 41, the detecting means 43 detects the three-dimensional coordinates of the predetermined position (A) of the object 10 relative to the other member 13 (step S14). This makes it possible to detect the relative three-dimensional coordinates of the predetermined position (A) of the object 10 relative to the other member 13 from the captured image including the first marker 11 and the second marker 14, thereby enabling continuous position detection.

[0065] According to the detection method of the present embodiment configured as described above, when detecting the predetermined position (A) of the object 10 to which the first marker 11 is attached, the detection method of the present disclosure aligns the predetermined position (A) of the object 10 with a predetermined reference point (origin (O)) of the alignment member 7 on which the alignment marker 71 is arranged. Next, an image of the alignment marker 71 and the first marker 11 arranged on the alignment member 7 is captured. Next, based on the captured image including the alignment marker 71 and the first marker 11, information on the relative three-dimensional coordinates of the predetermined position (A) of the object 10 with respect to the position of the first marker 11 attached to the object 10 is obtained. Next, a second marker 14 attached to a member 13 separate from the object 10 and the first marker 11 of the object 10 are imaged, and based on the obtained three-dimensional coordinates, the relative three-dimensional coordinates of a predetermined position (A) of the object 10 relative to the separate member 13 are detected from an image including the imaged first marker 11 and second marker 14.

[0066] According to such a detection method, even if the predetermined position (A) of the object 10 cannot be visually recognized, the predetermined position (A) of the object 10 relative to another member 13 can be accurately grasped. To explain in more detail, a technology for detecting the three-dimensional coordinates of the predetermined position (A) of the object 10 to which the marker is attached, which is difficult to image by a camera, from an image of the marker has been desired. For example, even if an attempt is made to grasp the position of the tip of an endoscope inside a body, it is difficult to visually recognize the tip from the outside, and it is also difficult to accurately grasp where the tip is located inside the body. And a technology for solving such a problem has not been known in the past. According to the detection method having the above configuration, the three-dimensional coordinates of the predetermined position (A) of the object 10 to which the marker is attached can be detected from an image of the marker, so that such a problem can be avoided.

[0067] In the detection method of the present embodiment, as described above, the alignment member 7 has a flat surface, on which a predetermined reference point (origin (O)) is formed and the alignment marker 71 may be disposed. In this case, calibration can be performed efficiently.

[0068] In the detection method and computer 2 of the present embodiment, as described above, the computer 2 of the present disclosure receives an image of the alignment marker 71 and the first marker 11 when the predetermined position (A) of the object 10 to which the first marker 11 is attached is aligned with a predetermined reference point (origin (O)) of the alignment member 7 to which the alignment marker 71 is arranged, by the control unit 4 executing a program. Next, based on the received image including the alignment marker 71 and the first marker 11, information on the relative three-dimensional coordinates of the predetermined position (A) of the object 10 with respect to the position of the first marker 11 attached to the object 10 is acquired. Next, based on the acquired three-dimensional coordinates, the relative three-dimensional coordinates of the predetermined position (A) of the object 10 with respect to the separate member 13 are detected from an image including the second marker 14 attached to the separate member 13 from the object 10 and the first marker 11 of the object 10. In this case, the computer 2 can detect the three-dimensional coordinates of a predetermined position (A) on the object 10 to which the marker is attached from an image of the marker.

[0069] The detection method and computer 2 according to the present disclosure are not limited to the above-described aspects, and various modifications can be made.

[0070] In the present embodiment, the embodiment has been described by way of example, in which information on the relative three-dimensional coordinates of the predetermined position (A) of the object 10 is acquired, but the present invention is not limited to this. For example, instead of the three-dimensional coordinates, information on a relative three-dimensional direction vector of the direction from the first marker 11 to the predetermined position with respect to another member 13 may be acquired.

[0071] Also, information on the relative three-dimensional coordinates of the predetermined position (A) of the object 10 may be obtained, and information on the three-dimensional direction vector of the predetermined position (A) relative to the first marker 11 may be obtained. Also, by capturing an image of the second marker 14 attached to a member 13 separate from the object 10 and the first marker 11 of the object 10, the relative three-dimensional coordinates of the predetermined position (A) of the object 10 relative to the separate member 13 and the relative three-dimensional direction vector of the direction from the first marker 11 to the predetermined position (A) relative to the separate member 13 may be detected from an image including the captured first marker 11 and second marker 14 based on the captured three-dimensional coordinates and three-dimensional direction vector. In this case, by capturing the three-dimensional direction vector in addition to the three-dimensional coordinates, the predetermined position (A) on the object 10 can be specified with higher accuracy.

[0072] In the present embodiment, the alignment marker 71 arranged on the alignment member 7 and the first marker 11 attached to the object 10 are simultaneously imaged, but the present invention is not limited thereto. For example, in the detection method of the present disclosure, the alignment marker 71 is arranged at a predetermined reference point (origin (O)) of the alignment member 7, and the alignment marker 71 is imaged by the imaging device 3, which is fixed in position. Next, the alignment marker 71 is removed, a predetermined position (A) of the object 10 is aligned with a predetermined reference point (origin (O)) of the alignment member 7, and the first marker 11 is imaged by the imaging device 3. Next, based on the image including the imaged alignment marker 71 and the image including the imaged first marker 11, information on the relative three-dimensional coordinates of the predetermined position (A) of the object 10 with respect to the position of the first marker 11 attached to the object 10 is obtained. In this case, after imaging the alignment marker 71 attached to a predetermined reference point (origin (O)), the first marker 11 is imaged in a state where a predetermined position (A) of the object 10 is aligned with the predetermined reference point (origin (O)), so that calibration can be performed even with a narrow angle of view based on three-dimensional coordinates. Next, by imaging the second marker 14 attached to a member 13 separate from the object 10 and the first marker 11 of the object 10, the relative three-dimensional coordinates of the predetermined position (A) of the object 10 with respect to the separate member 13 are detected from the image including the imaged first marker 11 and second marker 14 based on the acquired three-dimensional coordinates. This allows the detection process to be performed.

[0073] In another detection method of the present disclosure, an alignment marker 71 is placed at a predetermined reference point (origin (O)) of the alignment member 7, and an image of the alignment marker 71 is captured by the fixed-position imaging device 3. Next, the alignment marker 71 is removed, a predetermined position (A) of the object 10 is aligned with the predetermined reference point (origin (O)) of the alignment member 7, and an image of the first marker 11 is captured by the imaging device 3. Next, based on the captured image including the alignment marker 71 and the captured image including the first marker 11, information on a three-dimensional direction vector of the predetermined position (A) of the object 10 relative to the first marker 11 attached to the object 10 is obtained. In this case, after imaging the alignment marker 71 attached to a predetermined reference point (origin (O)), the first marker 11 is imaged in a state where a predetermined position (A) of the object 10 is aligned with the predetermined reference point (origin (O)), and calibration is performed based on the three-dimensional direction vector, so that calibration can be performed with a narrow angle of view and focusing on the three-dimensional direction. Next, by imaging the second marker 14 attached to a member 13 separate from the object 10 and the first marker 11 of the object 10, a relative three-dimensional direction vector of the direction from the first marker 11 to the predetermined position (A) with respect to the separate member 13 is detected from the image including the imaged first marker 11 and second marker 14 based on the acquired three-dimensional direction vector. This allows the detection process to be performed.

[0074] In still another detection method of the present disclosure, an alignment marker 71 is placed at a predetermined reference point (origin (O)) of the alignment member 7, and an image of the alignment marker 71 is captured by the fixed-position imaging device 3. Next, the alignment marker 71 is removed, a predetermined position (A) of the object 10 is aligned with the predetermined reference point (origin (O)) of the alignment member 7, and an image of the first marker 11 is captured by the imaging device 3. Next, based on the captured image including the alignment marker 71 and the captured image including the first marker 11, information on three-dimensional coordinates of the predetermined position (A) of the object 10 relative to the position of the first marker 11 attached to the object 10 and information on a three-dimensional direction vector of the predetermined position (A) of the object 10 relative to the first marker 11 are obtained. In this case, after imaging the alignment marker 71 attached to a predetermined reference point (origin (O)), the first marker 11 is imaged in a state where a predetermined position (A) of the object 10 is aligned with the predetermined reference point (origin (O)), and calibration is performed based on the three-dimensional coordinates and three-dimensional direction vectors, so that calibration can be performed with a narrow angle of view and by combining the three-dimensional coordinates and the three-dimensional direction. Next, by imaging the second marker 14 attached to a member 13 other than the object 10 and the first marker 11 of the object 10, the relative three-dimensional coordinates of the predetermined position (A) of the object 10 with respect to the other member 13 and the relative three-dimensional direction vector of the direction from the first marker 11 to the predetermined position (A) with respect to the other member 13 are detected from the image including the imaged first marker 11 and second marker 14 based on the acquired three-dimensional coordinates and three-dimensional direction vectors. This allows the detection process to be performed.

[0075] Furthermore, in this embodiment, a recess is formed at the reference point (origin (O)) of the alignment member 7, and the predetermined position (A) of the object 10 may be aligned with the reference point (origin (O)) by inserting a portion of the object 10 at the predetermined position (A) into the recess. In this case, the predetermined position (A) of the object 10 can be aligned with the reference point (origin (O)) by inserting the portion of the object 10 related to the predetermined position (A) into the recess.

[0076] Next, FIG. 6 will be described. In the detection method of the present disclosure, the first marker 11 is placed at a predetermined position (B) of the object 101, and the alignment marker 12 is placed at the position of point m2. Next, the first marker 11 and the alignment marker 12 are imaged. Then, based on the image including the imaged alignment marker 12 and the first marker 11, information on the relative three-dimensional coordinates of the predetermined position (point m2) of the alignment marker 12 with respect to the first marker 11 (point m1) placed on the object 101 is acquired, so that calibration can be performed even if the alignment marker 12 is removed from the object 101. Next, the second marker 14 attached to a member 13 different from the object 101 and the first marker 11 of the object 101 are imaged, and based on the acquired three-dimensional coordinates, the relative three-dimensional coordinates of the point m2 with respect to the other member 13 are detected from the image including the imaged second marker 14 and the first marker 11. At this time, as shown in FIG. 6, the calculation means 42 calculates a homogeneous transformation matrix based on the matrices at the positions of the imaging device 3 (point C) and the reference point (point m2) from the image data captured by the imaging device 3. c H m2 -1 In addition, a homogeneous transformation matrix is ​​calculated based on the matrices at the positions of the image capture device 3 (point C) and the first marker 11 (point m1). c H m1 And I asked for c H m1 and c H m2 -1 Based on m1 H m2 ( c H m2 -1 c H m1 ) is calculated. In this case, the m1 coordinate system and the m2 coordinate system are treated as the same coordinate system and calibration is performed based on three-dimensional coordinates, so calibration can be performed with a narrow angle of view and by calculating the position and orientation of the m2 coordinate system in the m1 coordinate system using three-dimensional coordinates. Therefore, for example, when assembling parts using a crane, it is also possible to estimate the positions at which the parts are to be connected to each other. Note that in the detection process, c Hm2 ( c H m1m2 H m1 -1 ) is required.

[0077] In addition, in the detection method of the present disclosure, an alignment marker 12 is placed at a predetermined position (B) of the object 101 to which the first marker 11 is attached, and an image of the first marker 11 and the alignment marker 12 is captured. Next, based on the captured image including the alignment marker 12 and the first marker 11, information on a three-dimensional direction vector in a predetermined direction extending from the predetermined position (B) so as to be perpendicular to the first marker 11 is acquired, and calibration is performed based on the three-dimensional direction vector. Next, an image of a second marker 14 attached to a member 13 separate from the object 101 and the first marker 11 of the object 101 is captured, and based on the acquired three-dimensional direction vector, a relative three-dimensional direction vector in a predetermined direction with respect to the separate member 13 is detected from the captured image including the first marker 11 and the second marker 14.

[0078] Moreover, in the detection method of the present disclosure, an alignment marker 12 is placed at a predetermined position (B) of the object 101 to which the first marker 11 is attached, and an image of the first marker 11 and the alignment marker 12 is captured. Next, based on the captured image including the alignment marker 12 and the first marker 11, information on three-dimensional coordinates of the predetermined position (B) of the object 101 relative to the position of the first marker 11 attached to the object 101 and information on a three-dimensional direction vector of a predetermined direction extending from the predetermined position (B) perpendicularly to the first marker 11 are acquired, thereby performing calibration based on the three-dimensional coordinates and the three-dimensional direction vector. Next, by capturing an image of a second marker 14 attached to a member 13 other than the object 101 and the first marker 11 of the object 101, the relative three-dimensional coordinates of a predetermined position (B) of the object 101 relative to the other member 13 and the relative three-dimensional direction vector in a predetermined direction relative to the other member 13 are detected from an image including the captured first marker 11 and second marker 14 based on the acquired three-dimensional coordinates and three-dimensional direction vector.

[0079] Next, Fig. 7 will be described. In the detection method of the present disclosure, a first alignment marker 15 is placed at a first predetermined position (point A1) of a first object 111 to which a first marker 11 is attached, and an image of the first marker 11 and the first alignment marker 15 is captured. At this time, the first alignment marker 15 is placed at, for example, point A1 in Fig. 7. Based on the captured image including the first alignment marker 15 and the first marker 11, information on three-dimensional coordinates of the first predetermined position (point A1) of the first object 111 relative to the position of the first marker 11 attached to the first object 111 and information on a three-dimensional direction vector of a first predetermined direction extending perpendicularly from the first predetermined position (point A1) to the first alignment marker 15 are acquired. Next, a second alignment marker 16 is placed at a second predetermined position (point A2) of the second object 112 to which the second marker 14 is attached, and an image of the second marker 14 and the second alignment marker 16 is captured. At this time, the second alignment marker 16 is placed at, for example, point A2 in FIG. 7. Next, based on the captured image including the second alignment marker 16 and the second marker 14, information on the relative three-dimensional coordinates of the second predetermined position (point A2) of the second object 112 with respect to the position of the second marker 14 attached to the second object 112 and information on a three-dimensional direction vector of a second predetermined direction extending perpendicularly from the second predetermined position (point A2) to the second alignment marker 16 are acquired. Next, by capturing an image of the first marker 11 of the first object 111 and the second marker 14 of the second object 112, the relative three-dimensional coordinates of the first predetermined position (point A1) of the first object 111 with respect to the second predetermined position (point A2) of the second object 112 and the relative three-dimensional direction vector of the first predetermined direction of the first object 111 with respect to the second predetermined direction of the second object 112 are detected from the captured image including the first marker 11 and the second marker 14. In this case, even if the first object 111 and the second object 112 overlap and a blind spot exists when photographing by the imaging device 3, the position difference at the alignment point can be measured and alignment of points A1 and A2 can be performed.Furthermore, when calculating the inclination difference between the first object 111 and the second object 112, the calculation means 42 can express it as, for example, the inner product of the image capturing device 3 (point C) to point A1 (C-A1) and the inner product of point C to point A' (C-A') from the image data captured by the image capturing device 3. Then, the difference between point A1 and point A' is expressed as follows when point A1 is used as the reference. A1 H A '= c H A1 -1 c H A In this case, the inclination difference at the alignment point can be measured and the holes formed in the first object 111 and the second object 112 can be aligned. In this way, it becomes possible to smoothly insert a rod-shaped member into a communication hole formed by communicating the respective holes.

[0080] Although the calibration process has been described in detail in this embodiment, the detection method in this embodiment may acquire information on the three-dimensional coordinates and three-dimensional direction vectors of the predetermined position (A) of the object 10 in advance. For example, the detection method in this embodiment acquires information on the relative three-dimensional coordinates of the predetermined position (A) of the object 10 with respect to the position of the first marker 11 attached to the object 10. In addition, by capturing an image of the second marker 14 attached to a member 13 other than the object 10 and the first marker 11 of the object 10, the relative three-dimensional coordinates of the predetermined position (A) of the object 10 with respect to the other member 13 may be detected from an image including the captured first marker 11 and second marker 14 based on the acquired three-dimensional coordinates. In this case, information on the three-dimensional coordinates of the predetermined position (A) of the object 10 acquired in advance may be used.

[0081] Also, for example, the detection method in this embodiment acquires information on a relative three-dimensional direction vector of a predetermined position (A) of the object 10 with respect to a first marker 11 attached to the object 10. Also, by capturing an image of a second marker 14 attached to a member 13 separate from the object 10 and the first marker 11 of the object 10, a relative three-dimensional direction vector of a direction from the first marker 11 to the predetermined position (A) with respect to the separate member 13 may be detected from an image including the captured first marker 11 and second marker 14 based on the acquired three-dimensional direction vector. In this case, information on the three-dimensional direction vector of the predetermined position (A) on the object 10 acquired in advance may be used.

[0082] Also, for example, the detection method in this embodiment acquires information on the relative three-dimensional coordinates of a predetermined position (A) of the object 10 with respect to the position of the first marker 11 attached to the object 10, and also acquires information on a three-dimensional direction vector of the object 10 with respect to the first marker 11. Also, by capturing an image of a second marker 14 attached to a member 13 separate from the object 10 and the first marker 11 of the object 10, the relative three-dimensional coordinates of the predetermined position (A) of the object 10 with respect to the separate member 13 and the relative three-dimensional direction vector of the direction from the first marker 11 to the predetermined position (A) with respect to the separate member 13 may be detected from an image including the captured first marker 11 and second marker 14 based on the acquired three-dimensional coordinates and three-dimensional direction vector. In this case, information on the three-dimensional coordinates and three-dimensional direction vector of the predetermined position (A) in the object 10 acquired in advance may be used.

[0083] In the computer 2 of this embodiment, the control unit 4 executes a program to receive images of the alignment marker 71 and the first marker 11 when the predetermined position (A) of the object 10 to which the first marker 11 is attached is aligned with a predetermined reference point (origin (O)) of the alignment member 7 to which the alignment marker 71 is arranged. Based on the received image including the alignment marker 71 and the first marker 11, information on a relative three-dimensional direction vector of the predetermined position (A) of the object 10 with respect to the first marker 11 attached to the object 10 is acquired. In this case, the computer 2 can perform calibration using the three-dimensional direction vector instead of the three-dimensional coordinate. Based on the acquired three-dimensional coordinate, the relative three-dimensional coordinate of the predetermined position (A) of the object 10 with respect to the separate member 13 is detected from an image including the second marker 14 attached to the separate member 13 from the object 10 and the first marker 11 of the object 10.

[0084] In the computer 2 of this embodiment, the control unit 4 executes a program to receive images of the alignment marker 71 and the first marker 11 when the predetermined position (A) of the object 10 to which the first marker 11 is attached is aligned with a predetermined reference point (origin (O)) of the alignment member 7 to which the alignment marker 71 is disposed. Based on the received image including the alignment marker 71 and the first marker 11, information on the relative three-dimensional coordinates of the predetermined position (A) of the object 10 with respect to the position of the first marker 11 attached to the object 10 is obtained, and information on the three-dimensional direction vector of the object 10 with respect to the first marker 11 is also obtained. In this case, the computer 2 performs calculations including the three-dimensional direction vector in addition to the three-dimensional coordinates, thereby enabling the predetermined position (A) of the object 10 to be specified with higher accuracy. In addition, based on the acquired three-dimensional coordinates and three-dimensional direction vector, the relative three-dimensional coordinates of a predetermined position (A) of the object 10 relative to another component 13 and the relative three-dimensional direction vector of the direction from the first marker 11 to the predetermined position (A) relative to the other component 13 are detected from an image including the first marker 11 and the second marker 14.

[0085] In the computer 2 of this embodiment, the control unit 4 executes a program to receive an image of the alignment marker 71, which is placed at a predetermined reference point (origin (O)) of the alignment member 7 and is captured by the fixed-position imaging device 3. The computer 2 also receives an image of the first marker 11, which is attached to the object 10 and is captured by the imaging device 3 when the predetermined position (A) of the object 10 is aligned with the predetermined reference point (origin (O)) of the alignment member 7. The computer 2 also obtains information on the three-dimensional coordinates of the predetermined position (A) of the object 10 relative to the position of the first marker 11 attached to the object 10, based on the image including the received alignment marker 71 and the image including the received first marker 11. In this case, the computer 2 captures the image of the alignment marker 71 attached to the predetermined reference point (origin (O)), and then captures the image of the first marker 11 in a state in which the predetermined position (A) of the object 10 is aligned with the predetermined reference point (origin (O)). Therefore, calibration can be performed even with a narrow angle of view based on the three-dimensional coordinates. In addition, based on the acquired three-dimensional coordinates, the relative three-dimensional coordinates of a predetermined position (A) of the object 10 with respect to another member 13 are detected from an image including a second marker 14 attached to a member 13 separate from the object 10 and the first marker 11 of the object 10.

[0086] In the computer 2 of this embodiment, the control unit 4 executes a program to receive an image of the alignment marker 71, which is placed at a predetermined reference point (origin (O)) of the alignment member 7 and is captured by the fixed-position imaging device 3. The control unit 4 also receives an image of the first marker 11, which is attached to the object 10 and is captured by the imaging device 3 when the predetermined position (A) of the object 10 is aligned with the predetermined reference point (origin (O)) of the alignment member 7. The control unit 4 also acquires information on a three-dimensional direction vector of the predetermined position (A) of the object 10 relative to the first marker 11 attached to the object 10, based on the image including the accepted alignment marker 71 and the image including the accepted first marker 11. In this case, the computer 2 captures an image of the alignment marker 71 attached to a predetermined reference point (origin (O)), then captures an image of the first marker 11 in a state where a predetermined position (A) of the object 10 is aligned with the predetermined reference point (origin (O)), and performs calibration based on the three-dimensional direction vector, so that calibration can be performed with a narrow angle of view and focusing on the three-dimensional direction. Also, based on the acquired three-dimensional direction vector, a relative three-dimensional direction vector of the direction from the first marker 11 to the predetermined position (A) with respect to the separate member 13 is detected from an image including the second marker 14 attached to the separate member 13 from the object 10 and the first marker 11 attached to the object 10.

[0087] In the computer 2 of this embodiment, the control unit 4 executes a program to receive an image of the alignment marker 71, which is placed at a predetermined reference point (origin (O)) of the alignment member 7 and is captured by the fixed-position imaging device 3. The control unit 4 also receives an image of the first marker 11, which is attached to the object 10 and is captured by the imaging device 3 when the predetermined position (A) of the object 10 is aligned with the predetermined reference point (origin (O)) of the alignment member 7. The control unit 4 also acquires information on three-dimensional coordinates of the predetermined position (A) of the object 10 relative to the position of the first marker 11 attached to the object 10 and information on a three-dimensional direction vector of the predetermined position (A) of the object 10 relative to the first marker 11, based on the received image including the alignment marker 71 and the received image including the first marker 11. In this case, the computer 2 images the alignment marker 71 attached to a predetermined reference point (origin (O)), then images the first marker 11 in a state where a predetermined position (A) of the object 10 is aligned with the predetermined reference point (origin (O)), and performs calibration based on the three-dimensional coordinates and three-dimensional direction vectors, so that calibration can be performed with a narrow angle of view and by combining the three-dimensional coordinates and the three-dimensional direction. In addition, based on the acquired three-dimensional coordinates and three-dimensional direction vectors, the computer 2 detects the relative three-dimensional coordinates of the predetermined position (A) of the object 10 with respect to the separate member 13 and the relative three-dimensional direction vector of the direction from the first marker 11 to the predetermined position (A) with respect to the separate member 13 from the object 10 from an image including the second marker 14 attached to the separate member 13 from the object 10 and the first marker 11 attached to the object 10.

[0088] In addition, in the computer 2 of this embodiment, the control unit 4 executes a program to receive an image of the first marker 11 and the alignment marker 12 attached to the object 101 when the alignment marker 12 is placed at a predetermined position (B) of the object 101. Based on the received image including the alignment marker 12 and the first marker 11, information on three-dimensional coordinates of the predetermined position (B) of the object 101 relative to the position of the first marker 11 attached to the object 101 is acquired. In this case, the computer 2 performs calibration based on three-dimensional coordinates by treating the first marker 11 as the same coordinate system as the m1 coordinate system and the m2 coordinate system, so that calibration can be performed with a narrow angle of view and by determining the position and orientation of the m2 coordinate system in the m1 coordinate system using three-dimensional coordinates. In addition, based on the acquired three-dimensional coordinates, the relative three-dimensional coordinates of a predetermined position (B) of the object 101 with respect to the other member 13 are detected from an image including a second marker 14 attached to a member 13 other than the object 101 and the first marker 11 of the object 101.

[0089] In the computer 2 of this embodiment, the control unit 4 executes a program to receive an image of the first marker 11 and the alignment marker 12 attached to the object 101 when the alignment marker 12 is placed at a predetermined position (B) of the object 101. Based on the received image including the alignment marker 12 and the first marker 11, information on a three-dimensional direction vector in a predetermined direction extending from the predetermined position (B) to be perpendicular to the first marker 11 is acquired. In this case, the computer 2 can perform calibration based on the three-dimensional direction vector by treating the first marker 11 as the same coordinate system as the m1 coordinate system and the m2 coordinate system. Based on the acquired three-dimensional direction vector, a relative three-dimensional direction vector in a predetermined direction with respect to the separate member 13 is detected from an image including the second marker 14 attached to the separate member 13 from the object 101 and the first marker 11 of the object 101.

[0090] In the computer 2 of this embodiment, the control unit 4 executes a program to receive an image of the first marker 11 and the alignment marker 12 attached to the object 101 when the alignment marker 12 is placed at a predetermined position (B) of the object 101. Based on the received image including the alignment marker 12 and the first marker 11, information on three-dimensional coordinates of the predetermined position (B) of the object 101 relative to the position of the first marker 11 attached to the object 101 and information on a three-dimensional direction vector of a predetermined direction extending from the predetermined position (B) perpendicularly to the first marker 11 are obtained. In this case, the computer 2 can perform calibration based on the three-dimensional coordinates and the three-dimensional direction vector by treating the first marker 11 as the same coordinate system as the m1 coordinate system and the m2 coordinate system. In addition, based on the acquired three-dimensional coordinates and three-dimensional direction vector, from an image including a second marker 14 attached to a member 13 other than the object 101 and the first marker 11 of the object 101, the relative three-dimensional coordinates of a specified position (B) of the object 101 with respect to the other member 13 and the relative three-dimensional direction vector in a specified direction with respect to the other member 13 are detected.

[0091] In addition, in the computer 2 of this embodiment, the control unit 4 executes a program to receive an image of the first alignment marker 15 attached to the first object 111 when the first alignment marker 15 is placed at the first predetermined position of the first object 111. Based on the received image including the first alignment marker 15, information on the relative three-dimensional coordinates of the first predetermined position of the first object 111 attached to the first object 111 and information on a three-dimensional direction vector of a first predetermined direction extending from the first predetermined position perpendicularly to the first alignment marker 15 are obtained. In addition, an image of the second alignment marker 16 attached to the second object 112 when the second alignment marker 16 is placed at the second predetermined position of the second object 112 is received. Also, based on the received image including the second alignment marker 16, information on the relative three-dimensional coordinates of the second predetermined position of the second object 112 attached to the second object 112 and information on a three-dimensional direction vector of a second predetermined direction extending from the second predetermined position perpendicularly to the second alignment marker 16 are acquired. Also, when an image including the first alignment marker 15 of the first object 111 and the second alignment marker 16 of the second object 112 is received, the relative three-dimensional coordinates of the first predetermined position of the first object 111 with respect to the second predetermined position of the second object 112 and the relative three-dimensional direction vector of the first predetermined direction of the first object 111 with respect to the second predetermined direction of the second object 112 are detected from the received image including the first alignment marker 15 and the second alignment marker 16. In this case, even if the first object 111 and the second object 112 overlap and a blind spot exists for the imaging device 3, the computer 2 can perform alignment and measure the position difference and tilt difference at the alignment point.

[0092] The computer 2 in this embodiment may also acquire information on the three-dimensional coordinates and three-dimensional direction vectors of the predetermined position (A) of the object 10 in advance. For example, the computer 2 in this embodiment acquires information on the relative three-dimensional coordinates of the predetermined position (A) of the object 10 with respect to the position of the first marker 11 attached to the object 10 by the control unit 4 executing a program. In addition, based on the acquired three-dimensional coordinates, the relative three-dimensional coordinates of the predetermined position (A) of the object 10 with respect to another member 13 may be detected from an image including the second marker 14 attached to a member 13 other than the object 10 and the first marker 11 of the object 10. In this case, the information on the three-dimensional coordinates of the predetermined position (A) of the object 10 acquired in advance can be used.

[0093] Also, for example, the computer 2 in this embodiment may acquire information on a relative three-dimensional direction vector of a predetermined position (A) of the object 10 with respect to a first marker 11 attached to the object 10 by causing the control unit 4 to execute a program, and may also detect the relative three-dimensional coordinates of the predetermined position (A) of the object 10 with respect to another member 13 from an image including a second marker 14 attached to a member 13 separate from the object 10 and the first marker 11 of the object 10 based on the acquired three-dimensional coordinates. In this case, information on the three-dimensional direction vector of the predetermined position (A) of the object 10 acquired in advance may be used.

[0094] Also, for example, the computer 2 in this embodiment acquires information on the relative three-dimensional coordinates of the predetermined position (A) of the object 10 with respect to the position of the first marker 11 attached to the object 10, and acquires information on the three-dimensional direction vector of the object 10 with respect to the first marker 11, by causing the control unit 4 to execute a program. Also, based on the acquired three-dimensional coordinates and three-dimensional direction vector, the computer 2 may detect the relative three-dimensional coordinates of the predetermined position (A) of the object 10 with respect to another member 13 and the relative three-dimensional direction vector of the direction from the first marker 11 to the predetermined position (A) with respect to the other member 13 from an image including the first marker 11 and the second marker 14. In this case, information on the three-dimensional coordinates and three-dimensional direction vector of the predetermined position (A) of the object 10 acquired in advance may be used.

[0095] 8, when the target object 10 is treated as, for example, a part of a welding robot, the detection method and computer 2 according to this embodiment can measure whether the welding robot is operating at an accurate position by capturing images of the alignment marker 71 and the first marker 11 with the imaging device 3. In this case, by attaching an AR marker to a member that can measure not only the position but also the welding angle, it is possible to grasp whether the part is placed in a predetermined position and the welding point for that part.

[0096] Furthermore, by using the detection method and computer 2 according to this embodiment, for example, it is possible to measure the displacement of the ground surface due to a landslide or the like at an erosion control site, as shown in Fig. 9. At this time, a fixed imaging device 3 captures images of an object 10 installed on the ground surface and having a first marker 11 attached thereto over time, and captures images of the first marker 11 before and after the movement of the ground surface. In this case, it is possible to grasp the ground surface, the amount of movement, and the direction of movement.

[0097] Furthermore, by using the detection method and computer 2 according to this embodiment, it is also possible to perform drawing in a three-dimensional space, as shown in Fig. 10. In this case, for example, a rectangular parallelepiped marker is attached to one end portion of the object 10 that is not the handle portion when drawing. First, in the alignment process, from the calibration process according to this embodiment, c H A Then, m1 H A = c H m1 -1 c H A from m1 H A = c H m1 -1 c H m2m2 H A By guiding m1 H A t z The quantity is the perpendicular distance from the imaginary plane to point A, and t z is equal to or less than the threshold value. Therefore, by measuring the length from the virtual plane generated using the alignment marker 71 to point A, the contact between the two can be defined.

[0098] Also, as shown in FIG. 11, the object 10 can be used as a laser pointer. In this case, m1 H m2 = c H m1 -1 c H m2 By calculating the above, the position and inclination of the first marker 11 are first obtained when the m1 coordinate system is used as a reference. Here, if the first marker 11 can be placed on the central axis of the object 10, alignment is not required. Then, the Z-axis direction of the first marker 11 can be treated as the direction of the laser. [Explanation of symbols]

[0099] 1. Position Detection System 2. Computer 3. Imaging device 4. Control Unit 5 Storage section 6. Communications Department 7 Alignment material 10. Object 11 First Marker 12 Alignment marker 13 Other parts 14 Second Marker 15 First alignment marker 16 Second alignment marker 41 Reception methods 42 Calculation Method 43 Detection methods 71 Alignment Marker 101 Object 111 First Object 112 Second Object

Claims

1. 1. A method for detecting a predetermined position of an object having a first marker attached thereto, comprising: aligning the predetermined position of the object with a predetermined reference point of an alignment member on which an alignment marker is arranged; capturing an image of the alignment marker and the first marker disposed on the alignment member; acquiring information on three-dimensional coordinates of the predetermined position of the object relative to a position of the first marker attached to the object based on an image including the alignment marker and the first marker that has been captured; a step of capturing an image of a second marker attached to a member other than the object and the first marker of the object, and detecting, based on the acquired three-dimensional coordinates, from an image including the captured first marker and the captured second marker, a relative three-dimensional coordinate of the predetermined position of the object with respect to the separate member; The detection method comprises:

2. 1. A method for detecting a direction of an object having a first marker attached thereto to a predetermined position, comprising: aligning the predetermined position of the object with a predetermined reference point of an alignment member on which an alignment marker is arranged; capturing an image of the alignment marker and the first marker disposed on the alignment member; acquiring information on a relative three-dimensional direction vector of the predetermined position of the object with respect to the first marker attached to the object based on an image including the captured alignment marker and the first marker; detecting a relative three-dimensional direction vector of a direction from the first marker to the predetermined position with respect to the other member from an image including the captured first marker and the second marker based on the acquired three-dimensional direction vector by capturing an image of the first marker and the second marker attached to a member other than the object; The detection method comprises:

3. 1. A method for detecting a predetermined position and a direction to the predetermined position of an object having a first marker attached thereto, comprising: aligning the predetermined position of the object with a predetermined reference point of an alignment member on which an alignment marker is arranged; capturing an image of the alignment marker and the first marker disposed on the alignment member; acquiring information on three-dimensional coordinates of the predetermined position of the object relative to a position of the first marker attached to the object, based on an image including the captured alignment marker and the first marker, and acquiring information on a three-dimensional direction vector of the object relative to the first marker; a step of capturing an image of a second marker attached to a member other than the object and the first marker of the object, and detecting, based on the acquired three-dimensional coordinates and the three-dimensional direction vector, from an image including the captured first marker and the second marker, a relative three-dimensional coordinate of the predetermined position of the object with respect to the other member and a relative three-dimensional direction vector of a direction from the first marker to the predetermined position with respect to the other member; The detection method comprises:

4. The detection method according to claim 1 , wherein the alignment member has a flat surface, and a predetermined reference point is formed on the flat surface, and the alignment marker is disposed on the flat surface.

5. 1. A method for detecting a predetermined position of an object having a first marker attached thereto, comprising: A step of placing an alignment marker at a predetermined reference point of the alignment member and capturing an image of the alignment marker by an imaging device having a fixed position; aligning the predetermined position of the object with the predetermined reference point of the alignment member, and capturing an image of the first marker by the imaging device; acquiring information on three-dimensional coordinates of the predetermined position of the object relative to a position of the first marker attached to the object, based on an image including the alignment marker and an image including the first marker; a step of capturing an image of a second marker attached to a member other than the object and the first marker of the object, and detecting, based on the acquired three-dimensional coordinates, from an image including the captured first marker and the captured second marker, a relative three-dimensional coordinate of the predetermined position of the object with respect to the separate member; The detection method comprises:

6. 1. A method for detecting a direction of an object having a first marker attached thereto to a predetermined position, comprising: A step of placing an alignment marker at a predetermined reference point of the alignment member and capturing an image of the alignment marker by an imaging device having a fixed position; aligning the predetermined position of the object with the predetermined reference point of the alignment member, and capturing an image of the first marker by the imaging device; acquiring information on a relative three-dimensional direction vector of the predetermined position of the object with respect to the first marker attached to the object based on an image including the alignment marker and an image including the first marker; detecting a relative three-dimensional direction vector of a direction from the first marker to the predetermined position with respect to the other member from an image including the captured first marker and the second marker based on the acquired three-dimensional direction vector by capturing an image of the first marker and the second marker attached to a member other than the object; The detection method comprises:

7. 1. A method for detecting a predetermined position and a direction to the predetermined position of an object having a first marker attached thereto, comprising: A step of placing an alignment marker at a predetermined reference point of the alignment member and capturing an image of the alignment marker by an imaging device having a fixed position; aligning the predetermined position of the object with the predetermined reference point of the alignment member, and capturing an image of the first marker by the imaging device; acquiring information on three-dimensional coordinates of the predetermined position of the object relative to a position of the first marker attached to the object and information on a three-dimensional direction vector of the predetermined position of the object relative to the first marker, based on an image including the captured alignment marker and an image including the captured first marker; a step of capturing an image of a second marker attached to a member other than the object and the first marker of the object, and detecting, based on the acquired three-dimensional coordinates and the three-dimensional direction vector, from an image including the captured first marker and the second marker, a relative three-dimensional coordinate of the predetermined position of the object with respect to the other member and a relative three-dimensional direction vector of a direction from the first marker to the predetermined position with respect to the other member; The detection method comprises:

8. A detection method according to any one of claims 1 to 3 and 5 to 7, wherein a recess is formed at the reference point of the alignment member, and the predetermined position of the object is aligned with the reference point by inserting a portion of the object at the predetermined position into the recess.

9. placing an alignment marker at a predetermined position of the object to which the first marker is attached, and capturing an image of the first marker and the alignment marker; acquiring information on three-dimensional coordinates of the predetermined position of the object relative to a position of the first marker attached to the object based on an image including the alignment marker and the first marker that has been captured; a step of capturing an image of a second marker attached to a member other than the object and the first marker of the object, and detecting, based on the acquired three-dimensional coordinates, from an image including the captured first marker and the captured second marker, a relative three-dimensional coordinate of the predetermined position of the object with respect to the separate member; The detection method comprises:

10. placing an alignment marker at a predetermined position of the object to which the first marker is attached, and capturing an image of the first marker and the alignment marker; acquiring information on a three-dimensional direction vector in a predetermined direction extending from the predetermined position perpendicular to the first marker based on an image including the alignment marker and the first marker that has been captured; a step of capturing an image of a second marker attached to a member other than the object and the first marker of the object, and detecting a relative three-dimensional direction vector of the predetermined direction with respect to the other member from an image including the captured first marker and the captured second marker based on the acquired three-dimensional direction vector; The detection method comprises:

11. placing an alignment marker at a predetermined position of the object to which the first marker is attached, and capturing an image of the first marker and the alignment marker; acquiring information on three-dimensional coordinates of the predetermined position of the object relative to a position of the first marker attached to the object based on an image including the captured alignment marker and the first marker, and information on a three-dimensional direction vector in a predetermined direction extending from the predetermined position perpendicular to the first marker; a step of capturing an image of a second marker attached to a member other than the object and the first marker of the object, and detecting, based on the acquired three-dimensional coordinates and three-dimensional direction vector, from an image including the captured first marker and the captured second marker, a relative three-dimensional coordinate of the predetermined position of the object with respect to the other member and a relative three-dimensional direction vector of the predetermined direction with respect to the other member; The detection method comprises:

12. placing a first alignment marker at a first predetermined position of a first object to which a first marker is attached, and capturing an image of the first marker and the first alignment marker; acquiring information on three-dimensional coordinates of the first predetermined position of the first object relative to a position of the first marker attached to the first object based on an image including the captured first alignment marker and the first marker, and information on a three-dimensional direction vector in a first predetermined direction extending from the first predetermined position perpendicularly to the first alignment marker; placing a second alignment marker at a second predetermined position of a second object to which the second marker is attached, and capturing an image of the second marker and the second alignment marker; acquiring information on three-dimensional coordinates of the second predetermined position of the second object relative to the position of the second marker attached to the second object based on an image including the captured second alignment marker and the second marker, and information on a three-dimensional direction vector of a second predetermined direction extending from the second predetermined position perpendicular to the second alignment marker; capturing an image of the first marker of the first object and the second marker of the second object, and detecting, from an image including the captured first marker and the second marker, a relative three-dimensional coordinate of the first predetermined position of the first object with respect to the second predetermined position of the second object and a relative three-dimensional direction vector of the first predetermined direction of the first object with respect to the second predetermined direction of the second object; The detection method comprises:

13. 1. A method for detecting a predetermined position of an object having a first marker attached thereto, comprising: acquiring information on three-dimensional coordinates of the predetermined position of the object relative to a position of the first marker attached to the object; a step of capturing an image of a second marker attached to a member other than the object and the first marker of the object, and detecting, based on the acquired three-dimensional coordinates, from an image including the captured first marker and the captured second marker, a relative three-dimensional coordinate of the predetermined position of the object with respect to the separate member; The detection method comprises:

14. 1. A method for detecting a direction of an object having a first marker attached thereto to a predetermined position, comprising: acquiring information on a relative three-dimensional direction vector of the predetermined position of the object with respect to the first marker attached to the object; detecting a relative three-dimensional direction vector of a direction from the first marker to the predetermined position with respect to the other member from an image including the captured first marker and the second marker based on the acquired three-dimensional direction vector by capturing an image of the first marker and the second marker attached to a member other than the object; The detection method comprises:

15. 1. A method for detecting a predetermined position and a direction to the predetermined position of an object having a first marker attached thereto, comprising: acquiring information on three-dimensional coordinates of the predetermined position of the object relative to a position of the first marker attached to the object, and acquiring information on a three-dimensional direction vector of the object relative to the first marker; a step of capturing an image of a second marker attached to a member other than the object and the first marker of the object, and detecting, based on the acquired three-dimensional coordinates and the three-dimensional direction vector, from an image including the captured first marker and the second marker, a relative three-dimensional coordinate of the predetermined position of the object with respect to the other member and a relative three-dimensional direction vector of a direction from the first marker to the predetermined position with respect to the other member; The detection method comprises:

16. The control unit executes the program, receiving an image of the alignment marker and the first marker when a predetermined position of the object to which the first marker is attached is aligned with a predetermined reference point of an alignment member on which the alignment marker is arranged; acquiring information on three-dimensional coordinates of the predetermined position of the object relative to a position of the first marker attached to the object, based on the received image including the alignment marker and the first marker; A computer detects, based on the acquired three-dimensional coordinates, the relative three-dimensional coordinates of the specified position of the object with respect to the other member from an image including a second marker attached to a member other than the object and the first marker of the object.

17. The control unit executes the program, receiving an image of the alignment marker and the first marker when a predetermined position of the object to which the first marker is attached is aligned with a predetermined reference point of an alignment member on which the alignment marker is arranged; acquiring information on a three-dimensional direction vector of the predetermined position of the object relative to the first marker attached to the object, based on an image including the received alignment marker and the first marker; A computer detects, based on the acquired three-dimensional coordinates, the relative three-dimensional coordinates of the specified position of the object with respect to the other member from an image including a second marker attached to a member other than the object and the first marker of the object.

18. The control unit executes the program, receiving an image of the alignment marker and the first marker when a predetermined position of the object to which the first marker is attached is aligned with a predetermined reference point of an alignment member on which the alignment marker is arranged; acquiring information on three-dimensional coordinates of the predetermined position of the object relative to a position of the first marker attached to the object, based on an image including the received alignment marker and the first marker, and acquiring information on a three-dimensional direction vector of the object relative to the first marker; A computer detects, based on the acquired three-dimensional coordinates and three-dimensional direction vector, from an image including the first marker and the second marker, the relative three-dimensional coordinates of the specified position of the object relative to the other member and the relative three-dimensional direction vector of the direction from the first marker to the specified position relative to the other member.

19. The control unit executes the program, receiving an image of an alignment marker captured by an imaging device that is fixed in position and that is disposed at a predetermined reference point of the alignment member; receiving an image of a first marker attached to the object captured by the imaging device when a predetermined position of the object is aligned with the predetermined reference point of the alignment member; acquiring information on three-dimensional coordinates of the predetermined position of the object relative to a position of the first marker attached to the object, based on the received image including the alignment marker and the received image including the first marker; A computer detects, based on the acquired three-dimensional coordinates, the relative three-dimensional coordinates of the specified position of the object with respect to the other member from an image including a second marker attached to a member other than the object and the first marker of the object.

20. The control unit executes the program, receiving an image of an alignment marker captured by an imaging device that is fixed in position and that is disposed at a predetermined reference point of the alignment member; receiving an image of a first marker attached to the object captured by the imaging device when a predetermined position of the object is aligned with the predetermined reference point of the alignment member; acquiring information on a relative three-dimensional direction vector of the predetermined position of the object with respect to the first marker attached to the object, based on the received image including the alignment marker and the received image including the first marker; A computer detects, based on the acquired three-dimensional direction vector, a relative three-dimensional direction vector of a direction from the first marker to the specified position with respect to a second marker attached to a member other than the object from an image including the first marker attached to the object and a second marker attached to the other member.

21. The control unit executes the program, receiving an image of an alignment marker captured by an imaging device that is fixed in position and that is disposed at a predetermined reference point of the alignment member; receiving an image of a first marker attached to the object captured by the imaging device when a predetermined position of the object is aligned with the predetermined reference point of the alignment member; acquiring information on three-dimensional coordinates of the predetermined position of the object relative to a position of the first marker attached to the object and information on a three-dimensional direction vector of the predetermined position of the object relative to the first marker, based on the received image including the alignment marker and the received image including the first marker; A computer detects, based on the acquired three-dimensional coordinates and three-dimensional direction vector, from an image including a second marker attached to a member other than the object and the first marker attached to the object, the relative three-dimensional coordinates of the specified position of the object with respect to the other member and a relative three-dimensional direction vector of the direction from the first marker to the specified position with respect to the other member.

22. The control unit executes the program, receiving an image of a first marker and the alignment marker attached to the object when the alignment marker is placed at a predetermined position on the object; acquiring information on three-dimensional coordinates of the predetermined position of the object relative to a position of the first marker attached to the object, based on the received image including the alignment marker and the first marker; A computer detects, based on the acquired three-dimensional coordinates, the relative three-dimensional coordinates of the specified position of the object with respect to the other member from an image including a second marker attached to a member other than the object and the first marker of the object.

23. The control unit executes the program, receiving an image of a first marker and the alignment marker attached to the object when the alignment marker is placed at a predetermined position on the object; acquiring information on a three-dimensional direction vector in a predetermined direction extending perpendicularly from the predetermined position to the first marker based on the received image including the alignment marker and the first marker; A computer detects a relative three-dimensional direction vector of the specified direction with respect to the other member from an image including a second marker attached to a member other than the object and the first marker of the object based on the acquired three-dimensional direction vector.

24. The control unit executes the program, receiving an image of a first marker and the alignment marker attached to the object when the alignment marker is placed at a predetermined position on the object; acquiring information on three-dimensional coordinates of the predetermined position of the object relative to a position of the first marker attached to the object, and information on a three-dimensional direction vector of a predetermined direction extending perpendicularly from the predetermined position to the first marker, based on an image including the received alignment marker and the first marker; A computer detects, based on the acquired three-dimensional coordinates and three-dimensional direction vector, from an image including a second marker attached to a member other than the object and the first marker of the object, the relative three-dimensional coordinates of the specified position of the object with respect to the other member and the relative three-dimensional direction vector of the specified direction with respect to the other member.

25. The control unit executes the program, receiving an image of the first alignment marker attached to the first object when the first alignment marker is placed at a first predetermined position on the first object; acquiring information on relative three-dimensional coordinates of the first predetermined position of the first object attached to the first object and information on a three-dimensional direction vector of a first predetermined direction extending perpendicularly from the first predetermined position to the first alignment marker, based on the received image including the first alignment marker; receiving an image of the second alignment marker attached to the second object when the second alignment marker is disposed at a second predetermined position on the second object; acquiring information on relative three-dimensional coordinates of the second predetermined position of the second object attached to the second object and information on a three-dimensional direction vector of a second predetermined direction extending perpendicularly from the second predetermined position to the second alignment marker, based on the received image including the second alignment marker; a computer that, when receiving an image including the first alignment marker of the first object and the second alignment marker of the second object, detects, from the received image including the first alignment marker and the second alignment marker, a relative three-dimensional coordinate of the first predetermined position of the first object with respect to the second predetermined position of the second object and a relative three-dimensional direction vector of the first predetermined direction of the first object with respect to the second predetermined direction of the second object.

26. The control unit executes the program, acquiring information on three-dimensional coordinates of a predetermined position of the object relative to a position of a first marker attached to the object; A computer detects, based on the acquired three-dimensional coordinates, the relative three-dimensional coordinates of the specified position of the object with respect to the other member from an image including a second marker attached to a member other than the object and the first marker of the object.

27. The control unit executes the program, acquiring information on a three-dimensional direction vector of a predetermined position of the object relative to a first marker attached to the object; A computer detects, based on the acquired three-dimensional coordinates, the relative three-dimensional coordinates of the specified position of the object with respect to the other member from an image including a second marker attached to a member other than the object and the first marker of the object.

28. The control unit executes the program, acquiring information on three-dimensional coordinates of a predetermined position of the object relative to a position of a first marker attached to the object, and acquiring information on a three-dimensional direction vector of the object relative to the first marker; A computer detects, based on the acquired three-dimensional coordinates and three-dimensional direction vector, from an image including the first marker and the second marker, the relative three-dimensional coordinates of the specified position of the object relative to the other member and the relative three-dimensional direction vector of the direction from the first marker to the specified position relative to the other member.

Images