Optimum arrangement proposition device, method, and program

Abstract

To provide an optimum arrangement proposition device or the like that can contribute to proposing an optimum arrangement of positioning markers or cameras.SOLUTION: The optimum arrangement proposition device comprises: a photographable range calculation unit which is constituted to calculate a photographable range of markers by a camera on the basis of marker information including data pertaining to a marker identifier and size, and camera information including data pertaining to a camera resolution and field angle; a range filled region calculation unit which is constituted to calculate a range filled region where the photographable range when a marker or a camera is installed in an installable area is filled into a movable area, on the basis of map information including data pertaining to the movable area and the installable area and the photographable range; and an optimum arrangement calculation unit which is constituted to calculate the optimum arrangement of the marker or the camera in the installable area on the basis of the range filled region.SELECTED DRAWING: Figure 11

Description

[Technical Field]

[0001] The present invention relates to an optimal placement proposal device, method, and program. [Background technology]

[0002] In large indoor facilities, visitors can get lost due to the facility's vast size, so there is a need to know their current location and be guided to their destination. Various methods have been devised for determining current location and guiding them to their destination. A typical method is to use satellite positioning (GPS (Global Positioning System), etc.). However, satellite positioning has the problem that satellite signals cannot reach indoors and positioning cannot be performed.

[0003] Therefore, various methods have been devised for indoor positioning technology. A typical example is a method that uses radio waves (Wi-Fi, Bluetooth (registered trademark) beacon, etc.). However, positioning using radio waves requires the facility to maintain and manage the radio wave transmitter and receiver, and in terms of positioning accuracy, it is difficult to estimate the direction of a person being positioned for guidance purposes.

[0004] Therefore, a positioning method that uses a camera to capture images of markers is available as a positioning method that can be used indoors, has low maintenance costs for the facility, and easily estimates the orientation of a target person. In a positioning method that uses a camera to capture images of markers, it is necessary to manage the placement of the markers or cameras by considering in advance where, in what orientation, and how many markers or cameras to install. For example, when considering the placement of markers or cameras in a wide indoor area, it is necessary to visit the site and observe the environment, and then consider and determine the optimal placement of the markers or cameras, which requires time and know-how. In other words, when there is a lack of time or know-how, it is difficult to design the optimal placement of the markers or cameras.

[0005] Therefore, Patent Document 1 proposes a marker placement assistance method for assisting the marker placement work of placing markers in predetermined positions, as a technology that enables even inexperienced workers to place markers in appropriate positions and further adjust the markers to achieve optimal marker placement. The method involves superimposing and displaying a virtual marker in a specified position or position and orientation on a captured image in real space, placing a real marker along the displayed virtual marker, and displaying an alignment confirmation index with features that correspond to physical feature points of the real object, allowing the marker placement to be adjusted to improve the final alignment result. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] Patent Publication No. 2007-64684 Summary of the Invention [Problem to be solved by the invention]

[0007] The following analysis is provided by the present inventors.

[0008] In the method of Patent Document 1, virtual markers that identify the placement of actual markers are set at predetermined positions, and the optimal placement of the markers is not determined (calculated). Therefore, when using a positioning method that captures images of markers with a camera, it is desirable to determine and propose the optimal placement of the positioning markers or cameras.

[0009] A main object of the present invention is to provide an optimal placement proposal device, method, and program that can contribute to finding and proposing the optimal placement of positioning markers or cameras. [Means for solving the problem]

[0010] The optimal placement proposal device according to a first aspect includes: a captureable range calculation unit configured to calculate a captureable range of the marker by the camera based on marker information including data related to the marker's identifier and size, and camera information including data related to the camera's resolution and angle of view; a range filling area calculation unit configured to calculate a range filling area in which the captureable range when the marker or the camera is installed in the installable area is filled into the movable area based on map information including data related to the movable area and the installable area, and the captureable range; and an optimal placement calculation unit configured to calculate an optimal placement of the marker or the camera in the installable area based on the range filling area.

[0011] The optimal layout proposal method according to the second aspect includes the steps of: an optimal layout proposal device calculating a captureable range of a marker by a camera based on marker information including data related to a marker identifier and size, and camera information including data related to the camera's resolution and angle of view; an optimal layout proposal device calculating a range filling area by filling the captureable range of the marker or camera in the installable area into the movable area based on map information including data related to a movable area and an installable area, and the captureable range; and an optimal layout proposal device calculating an optimal layout of the marker or camera in the installable area based on the range filling area.

[0012] The program according to the third aspect causes the optimal placement proposal device to perform the following processes: calculate a captureable range of the marker by the camera based on marker information including data related to the marker's identifier and size, and camera information including data related to the camera's resolution and angle of view; calculate a range filling area by filling the captureable range when the marker or the camera is installed in the movable area based on map information including data related to the movable area and the installable area, and the captureable range; and calculate an optimal placement of the marker or the camera in the installable area based on the range filling area.

[0013] The program can be recorded on a computer-readable storage medium. The storage medium can be a non-transitory medium such as a semiconductor memory, a hard disk, a magnetic recording medium, or an optical recording medium. The present disclosure can also be embodied as a computer program product. The program is input to a computer device via an input device or a communication interface from the outside, stored in a storage device, and drives a processor according to predetermined steps or processes. The processing results, including intermediate states as needed, can be displayed at each stage on a display device, or the computer device can communicate with the outside via the communication interface. For example, a computer device for this purpose typically includes a processor, a storage device, an input device, a communication interface, and a display device as needed, all of which can be connected to each other via a bus. [Effects of the Invention]

[0014] The first to third aspects can contribute to finding and proposing the optimum placement of positioning markers or cameras. [Brief explanation of the drawings]

[0015] [Figure 1] 1 is a block diagram schematically illustrating a first example of the configuration of an optimal layout proposal device according to the present disclosure. [Figure 2]1 is a schematic diagram showing an example of the configuration of map information and map images used in an optimal layout proposal device according to the present disclosure. FIG. [Figure 3] 1 is a schematic diagram showing an example of the configuration of marker information used in an optimal layout proposal device according to the present disclosure. FIG. [Figure 4] 1 is a schematic diagram showing an example of the configuration of camera information used in an optimal layout proposal device according to the present disclosure. FIG. [Figure 5] 10 is an image showing two examples of calculation of the photographable range of a marker in the optimal layout proposal device according to the present disclosure. [Figure 6] 10 is an image showing an example of calculation of a range filling area in the optimal layout proposal device according to the present disclosure. [Figure 7] 10 is an image showing an example of calculation of an optimal placement of markers in the optimal placement proposal device according to the present disclosure. [Figure 8] 1 is a schematic diagram showing an example of the configuration of marker optimal placement information output by an optimal placement proposal device according to the present disclosure. [Figure 9] 10 is a flowchart schematically illustrating an example of the operation of the optimal layout proposal device according to the present disclosure. [Figure 10] FIG. 2 is a block diagram schematically illustrating a second example of the configuration of the optimal layout proposal device according to the present disclosure. [Figure 11] FIG. 10 is a block diagram schematically illustrating a third example of the configuration of the optimal layout proposal device according to the present disclosure. [Figure 12] FIG. 2 is a block diagram illustrating a configuration of hardware resources. DETAILED DESCRIPTION OF THE INVENTION

[0016] The following description of the embodiments will be made with reference to the drawings. Note that, where reference numerals are used in this application, they are intended solely to facilitate understanding and are not intended to limit the present invention to the illustrated embodiments. Furthermore, the following embodiments are merely exemplary and do not limit the present invention. Furthermore, connecting lines between blocks in the drawings and the like referred to in the following description include both bidirectional and unidirectional lines. Unidirectional arrows are used to schematically indicate the flow of main signals (data) and do not exclude bidirectionality. Furthermore, although not explicitly shown, input and output ports exist at the input and output ends of each connecting line in the circuit diagrams, block diagrams, internal configuration diagrams, connection diagrams, and the like shown in this disclosure. The same applies to input and output interfaces. A program is executed via a computer device, which includes, for example, a processor, a storage device, an input device, a communication interface, and, if necessary, a display device. The computer device is configured to communicate with internal or external devices (including computers) via the communication interface, whether wired or wireless.

[0017] [Form 1] An optimal layout proposal device according to a first embodiment will be described with reference to the drawings. FIG. 1 is a block diagram illustrating a first example of the configuration of an optimal layout proposal device according to the present disclosure. FIG. 2 is a schematic diagram illustrating an example of the configuration of map information and map images used in the optimal layout proposal device according to the present disclosure. FIG. 3 is a schematic diagram illustrating an example of the configuration of marker information used in the optimal layout proposal device according to the present disclosure. FIG. 4 is a schematic diagram illustrating an example of the configuration of camera information used in the optimal layout proposal device according to the present disclosure. FIG. 5 is an image illustrating two examples of calculation of the imageable range of a marker in the optimal layout proposal device according to the present disclosure. FIG. 6 is an image illustrating an example of calculation of a range filling area in the optimal layout proposal device according to the present disclosure. FIG. 7 is an image illustrating an example of calculation of the optimal layout of a marker in the optimal layout proposal device according to the present disclosure. FIG. 8 is a schematic diagram illustrating an example of the configuration of optimal position information output by the optimal layout proposal device according to the present disclosure.

[0018] The optimal placement proposal device 10 is a device that proposes the optimal placement of markers (see FIG. 1). In the first embodiment, the optimal placement proposal device 10 is used when installing markers when constructing a positioning system that measures the positions of fixedly installed markers by photographing them with a movable camera. Here, the positioning system is used for positioning and navigation in large shopping malls, and can also be used for positioning and navigation in various other facilities, including factories and warehouses. The optimal placement proposal device 10 is configured to acquire three types of information, namely, map information, marker information, and camera information, and to generate and output optimal placement information of markers on a map based on the acquired information. The optimal placement proposal device 10 can be, for example, a device equipped with a computer function, such as a personal computer, a tablet terminal, or a smartphone. By executing a predetermined program, the optimal layout proposal device 10 can virtually be configured to include a map information acquisition unit 11, a marker information acquisition unit 12, a camera information acquisition unit 13, a photographable range calculation unit 14, a range filling area calculation unit 15, an optimal layout calculation unit 16, and an optimal layout output unit 17.

[0019] The map information acquisition unit 11 is a functional unit (see FIG. 1) that acquires map information (see FIG. 2). The map information acquisition unit 11 may acquire map information input by a user operating the optimal layout proposal device 10, or may acquire map information from outside the optimal layout proposal device 10. The map information includes data related to a movable area of ​​the indoor facility and an area where a marker can be installed. By acquiring the map information, the map information acquisition unit 11 creates a map including a virtual movable area and an installable area within the device.

[0020] Here, the map information may be configured as two types of data relating to a movable area and an installable area, as in the "Map Information" in FIG. 2. The map information may be configured in the same format as the marker imageable range information. The map information may be expressed in a two-dimensional grid format (a two-dimensional array having flag values ​​indicating movable / immovable and installable / impossible), as in the "Map Image" in FIG. 2. The installable area may not simply indicate whether or not a marker can be placed, but may also indicate intermediate cases, such as "it can be placed, but this location is difficult to place it in," depending on the facility. In this case, the area may be expressed as a value between 0.0 and 1.0 indicating ease of placement, rather than a binary value of installable / impossible. The installable area is assumed to be the wall surface of a room or corridor, but may also be the ground or ceiling. In other words, the map information may be not only a two-dimensional plane, but also a three-dimensional space.

[0021] The marker information acquisition unit 12 is a functional unit (see FIG. 1) that acquires marker information (see FIG. 3). The marker information acquisition unit 12 may acquire marker information input by a user operating the optimal layout proposal device 10, or may acquire marker information from outside the optimal layout proposal device 10. The marker information includes data related to the identifiers and sizes of one or more positioning markers to be installed in an indoor facility. The marker information is used to calculate the imageable range.

[0022] Here, the marker information can be configured to associate an identifier, size, and other supplementary information related to a positioning marker, as in the "marker information" in FIG. 3. The larger the marker size, the farther the marker can be photographed, so the size is an important parameter when determining the optimal marker placement (for example, the distance between markers). Note that the marker can be replaced with any two-dimensional code or a code of other dimensions. QR (Quick Response) Codes (registered trademark) may also be used as markers. QR Codes (registered trademark) have minute patterns that are difficult to photograph unless taken at close range. However, it is still possible to determine the optimal placement of QR Codes (registered trademarks) using a similar optimal placement proposal device.

[0023] The camera information acquisition unit 13 is a functional unit (see FIG. 1) that acquires camera information (see FIG. 4). The camera information acquisition unit 13 may acquire camera information input by a user operating the optimal layout proposal device 10, or may acquire camera information from outside the optimal layout proposal device 10. The camera information includes data related to the resolution and angle of view of the camera used to photograph the marker. The camera information is used to calculate the photographable range.

[0024] Here, the camera information can be configured as "camera information" in Figure 4, which associates the resolution, angle of view, and other supplementary information of the camera used to capture the positioning markers. Examples of cameras that can be used include cameras installed on smartphones, tablet devices, smart glasses, and wearable cameras. Considering a navigation use case, the camera can be an RGB (Red-Green-Blue) camera installed on a smartphone. Depending on the material and shape of the marker, an infrared camera, a 3D sensor (e.g., a ToF (Time of Flight) camera, LiDAR (Light Detection and Ranging)), a visual sensor, or an optical sensor can also be used. The camera resolution is a parameter that affects the placement interval of the markers, as a higher resolution allows for capturing markers that are farther away. The camera's angle of view also affects the placement of the markers, as a wide-angle camera can capture a wider range, while a telephoto camera can capture markers that are farther away. Some special cameras are capable of capturing 360-degree images in all directions. Such camera information may be input and used in the calculation of the optimal marker placement. As described above, the field of view and the capture range vary depending on the camera.

[0025] The photographable range calculation unit 14 is a functional unit that calculates the photographable range of the marker by the camera based on the acquired marker information and camera information (see FIG. 1). The photographable range varies (becomes larger or smaller) depending on the size of the marker, the resolution of the camera, the angle of view, etc. The position of the photographable range can be changed depending on the orientation of the marker.

[0026] An example of calculation of the captureable range is shown in Figure 5. The captureable range of a marker can be expressed in the same format as map information. In other words, the captureable range may be in three-dimensional format, not just two-dimensional format like map information. For example, it may be expressed using a voxel representation (a three-dimensional array with values ​​indicating inside / outside of range). In some cases, it may be difficult to express the captureable range using simple parameters included in marker information or camera information, so the captureable range in a grid representation as shown in Figure 5 may be used directly instead of the marker information or camera information.

[0027] The range filling area calculation unit 15 is a functional unit that calculates a range filling area (see FIG. 6) by filling the movable area with the imageable range when a marker is installed in the installable area of ​​the map information (installed facing the movable area) based on the acquired map information and the calculated imageable range (see FIG. 1). The range filling area can express the map information (passable area, installable area) and the imageable range of the marker in the same format (e.g., two-dimensional grid format), and the range filling area calculation unit 15 calculates various types of range filling areas by installing various numbers of markers in the installable area of ​​the map information.

[0028] An example of calculation of the range filling area is shown in Figure 6. Figure 6 is an example of calculation of the range filling area when two markers are installed in any installation-possible area. In a certain movable area, if any one marker can be photographed, the movable area is basically considered to be included in the range filling area. On the other hand, there may be a need to arrange markers densely so that two or more markers can be photographed at many points. For this reason, the range filling area can include multiple types of areas (e.g., areas where one or more markers can be photographed, areas where two or more markers can be photographed, etc.). Furthermore, it is important for the range filling area calculation unit 15 to take into account blind spots in the map information. This is because even if the distance between the photographing point and the marker in the movable area is sufficiently short, there may be cases where the marker cannot be photographed due to an obstruction (i.e., there is a blind spot). For this reason, blind spots are excluded from the range filling area. As a method for excluding blind spots from the range filling area, for example, in the grid of map information, a straight line is drawn between the marker cell and the cell of the shooting position, and if the line is entirely within the movable area, it is considered to be a photographable area, but if part of the line extends beyond the movable area, it is not considered to be a photographable area.

[0029] The optimal placement calculation unit 16 is a functional unit that calculates the optimal placement of markers in the installation area based on the calculated range filling area (see FIG. 1). The optimal placement calculation unit 16 can calculate the optimal placement of markers in the installation area so as to maximize the range filling area and minimize the number of markers to be installed. In calculating the optimal placement of markers, for example, the photographable area when markers are installed in the installation area of ​​the map information may be calculated, and the optimal marker placement may be calculated using mathematical optimization technology.

[0030] An illustration of the calculation of the optimal marker placement is shown in FIG. 7. When the upper limit number of markers is determined, the optimal placement calculation unit 16 may calculate a placement that maximizes the range filling area (coverage rate), or may calculate the minimum number of markers and their placement while satisfying the range filling area conditions (e.g., a coverage rate of xx% or more). Instead of focusing on the number of markers, the optimal placement of markers may be calculated using a cost set according to the size of the marker. For example, if only a few large markers can be placed but many small positioning markers can be placed, small markers may be weighted as cost 1 and large markers as cost 3, and the optimal placement of large and small markers may be achieved with the goal of minimizing cost. Furthermore, since there may be multiple types of imageable areas, the markers may be optimally placed so as to maximize any of the range filling areas or the sum of all the range filling areas. Furthermore, there may be a need to place markers densely only in specific areas with a lot of foot traffic, or to avoid placing markers near toilets to avoid photography. Therefore, markers may be optimally placed based on the conditions of the photographable range set for each movable area.

[0031] Here, mathematical optimization technology refers to a technology that models a problem as a function and finds the variable values ​​that minimize or maximize the function value within the constraint range. In form 1, the sum of the cell values ​​(captureable area) in Figures 6 and 7 is the "objective function," the marker placement and orientation are the "variables," and the marker position (limited to walls) is the "constraint," and the value that maximizes the objective function (captureable area) is found. For example, mathematical optimization technology can be used that models the objective function as a linear function, treats it as a linear programming problem, and solves it with a linear programming solver. Note that while Figures 6 and 7 show examples of two-dimensional cell configurations, this is not limiting; a three-dimensional grid configuration is also possible, and the marker and camera placement relationship may be reversed. The objective function, constraints, and variables will vary depending on the configuration.

[0032] The optimal placement output unit 17 is a functional unit that generates and outputs (for example, display, externally transmit, print, etc.) optimal marker placement information based on the calculated optimal marker placement (see FIG. 1). The optimal placement output unit 17 may also output information obtained in the process of calculating the optimal marker placement. This makes it possible to provide information to a marker placement designer, thereby resolving the difficulty of designing marker placement.

[0033] An example of marker optimal placement information is shown in FIG. 8. Finally, optimal marker placement information, which indicates which marker (its identifier) ​​should be placed at which position and in which orientation, is output. The output format can be a table including the identifier, position, and orientation. The identifier can be a number or a character string that uniquely represents the marker. The position can be expressed as coordinates (X, Y) on a two-dimensional plane, or as coordinates (X, Y, Z) in three-dimensional space. The orientation can be east / west / south / north in two-dimensional space, or east / west / south / north / up / down in three-dimensional space. The orientation can also be expressed as a continuous value rather than a discrete value. For example, the orientation can be expressed as a rotation angle (0 degrees to 360 degrees, 0 to 2π, etc.) in two-dimensional space, or as yaw / pitch / roll, a three-dimensional rotation matrix, or quaternion in three-dimensional space. Another output format for the optimal marker placement information is to visualize it as a diagram or image. When output as an image, the marker optimum placement information may be an image such as that shown in FIG.

[0034] Next, the operation of the optimal placement proposal device according to the first embodiment will be described with reference to the drawings. Fig. 9 is a flowchart schematically illustrating an example of the operation of the optimal placement proposal device according to the present disclosure. Please refer to Fig. 1 for the configuration of the optimal placement proposal device.

[0035] First, the map information acquisition unit 11, the marker information acquisition unit 12, and the camera information acquisition unit 13 of the optimal layout proposal device 10 acquire map information (see FIG. 2), marker information (see FIG. 3), and camera information (see FIG. 4) (step A1). The acquisition of each piece of information may be simultaneous or not, and the order is not important.

[0036] Next, the photographable range calculation unit 14 of the optimum layout proposing device 10 calculates the photographable range of the camera relative to the marker based on the acquired marker information and camera information (step A2).

[0037] Next, the range filling area calculation unit 15 of the optimal layout proposal device 10 calculates a range filling area (see FIG. 6) in which the photographable range when a marker is placed in the installation area of ​​the map information (the marker is placed facing the movable area) is filled into the movable area based on the acquired map information and the calculated photographable range (step A3). In calculating the range filling area, various numbers of markers are placed in the installation area of ​​the map information to calculate various types of range filling areas.

[0038] Next, the optimal placement calculation unit 16 of the optimal placement proposal device 10 calculates the optimal placement of the markers in the installation possible area based on the calculated range filling area (step A4).

[0039] Next, the optimal placement output unit 17 of the optimal placement proposal device 10 generates and outputs (e.g., displays, transmits externally, prints, etc.) optimal marker placement information based on the calculated optimal marker placement (step A5), and then terminates.

[0040] The above description has been given of a case in which the markers are installed at fixed positions and the cameras are mobile. However, the optimal placement of the cameras may be proposed in the reverse pattern, i.e., in which the cameras are installed at fixed positions and the markers are mobile. In this reverse pattern, the captureable range of a camera installed on a wall is calculated, and the range filling area covered by the camera's captureable range in the movable area is calculated. The optimal placement of the cameras in the installable area can be calculated so as to maximize the range filling area and minimize the number of cameras to be installed. For example, this reverse pattern can be used in cases where, when a marker is attached to a moving object (such as an automatic door), the marker moves with the moving object, but it is desired to find the optimal placement of cameras that will not lose track of the marker during movement. It can also be used to plan the optimal placement of cameras in various facilities, including shopping malls, factories, warehouses, etc.

[0041] According to the first aspect, by calculating the optimal placement of the markers or cameras based on map information, marker information, and camera information, it is possible to contribute to determining and proposing the optimal placement of the positioning markers or cameras.

[0042] Furthermore, according to form 1, by proposing the optimal placement of positioning markers or cameras, even inexperienced workers can determine the optimal placement of positioning markers or cameras in a short amount of time, which can contribute to reducing the introduction costs of the positioning system.

[0043] [Form 2] The optimal placement proposal device according to the second embodiment will be described with reference to the drawings. Fig. 10 is a block diagram schematically illustrating a second example of the configuration of the optimal placement proposal device according to the present disclosure.

[0044] The second embodiment is a modification of the first embodiment, in which when the map information acquisition unit 11 acquires map information, the map information is acquired through an image map conversion unit 18 that acquires image information including an image that is the basis of the map information and converts (generates) it into map information. The image information may be either a still image or a video. In converting the image information into map information, for example, feature points such as an edge between a wall and a floor, an edge between a wall and a ceiling, or an edge between walls at a corner in the image may be detected to generate virtual two-dimensional or three-dimensional map information, but is not limited to this. The other configurations and operations are the same as those of the first embodiment.

[0045] According to the second embodiment, like the first embodiment, it is possible to contribute to finding and proposing the optimal placement of positioning markers or cameras, and also to reduce the effort required to create map information by converting image information into map information.

[0046] [Form 3] The optimal placement proposal device according to the third embodiment will be described with reference to the drawings. Fig. 11 is a block diagram schematically showing a third example of the configuration of the optimal placement proposal device according to the present disclosure.

[0047] The optimal placement proposal device 10 is a device that proposes an optimal placement of markers or cameras. The optimal placement proposal device 10 includes a captureable range calculation unit 14, a range filling area calculation unit 15, and an optimal placement calculation unit 16.

[0048] The photographable range calculation unit 14 is configured to calculate the photographable range of the marker by the camera based on marker information including data related to the marker's identifier and size, and camera information including data related to the camera's resolution and angle of view. The range filling area calculation unit 15 is configured to calculate a range filling area by filling the photographable range when the marker or camera is installed in the installable area into the movable area based on map information including data related to the movable area and the installable area, and the photographable range. The optimal placement calculation unit 16 is configured to calculate the optimal placement of the marker or camera in the installable area based on the range filling area.

[0049] According to the third aspect, by calculating the optimal placement of the markers or cameras based on the map information, the marker information, and the camera information, it is possible to contribute to determining and proposing the optimal placement of the positioning markers or cameras.

[0050] The optimal allocation proposal device according to the first to third aspects can be configured using so-called hardware resources (information processing devices, computers), and may have the configuration shown in Fig. 12. For example, the hardware resources 100 include a processor 101, a memory 102, a network interface 103, and the like, which are interconnected by an internal bus 104.

[0051] 12 is not intended to limit the hardware configuration of the hardware resource 100. The hardware resource 100 may include hardware (e.g., an input / output interface) that is not shown. Furthermore, the number of units such as the processor 101 included in the device is not intended to be limited to the example shown in FIG. 12, and for example, multiple processors 101 may be included in the hardware resource 100. The processor 101 may be, for example, a central processing unit (CPU), a microprocessor unit (MPU), a graphics processing unit (GPU), or the like.

[0052] The memory 102 may be, for example, a random access memory (RAM), a read only memory (ROM), a hard disk drive (HDD), or a solid state drive (SSD).

[0053] The network interface 103 may be, for example, a LAN (Local Area Network) card, a network adapter, a network interface card, or the like.

[0054] The functions of the hardware resource 100 are realized by the processing modules described above. The processing modules are realized, for example, by the processor 101 executing a program stored in the memory 102. The programs can be updated by downloading them over a network or by using a storage medium that stores the programs. Furthermore, the processing modules may be realized by semiconductor chips. In other words, it is sufficient that the functions performed by the processing modules be realized by software being executed on some kind of hardware.

[0055] Some or all of the above aspects may be described as, but are not limited to, the following supplementary notes.

[0056] [Appendix 1] a captureable range calculation unit configured to calculate a captureable range of the marker by the camera based on marker information including data related to a marker identifier and a size, and camera information including data related to a camera resolution and a field of view; a range filling area calculation unit configured to calculate a range filling area in which the imageable range when the marker or the camera is installed in the installable area is filled into the movable area based on map information including data related to a movable area and an installable area, and the imageable range; an optimal placement calculation unit configured to calculate an optimal placement of the marker or the camera in the installation possible area based on the range filling region; An optimal placement proposal device comprising: [Appendix 2] an optimal placement output unit configured to generate and output optimal placement information based on an optimal placement of the marker or the camera; 10. The optimal placement proposal device according to claim 1. [Appendix 3] a map information acquisition unit configured to acquire the map information; the range filling area calculation unit is configured to calculate the range filling area using the map information acquired by the map information acquisition unit. 3. The optimal layout proposal device according to claim 1 or 2. [Appendix 4] an image map conversion unit configured to acquire image information including an image that is a basis for the map information and convert it into the map information; the map information acquisition unit is configured to acquire the map information converted by the image map conversion unit. 4. The optimal placement proposal device according to claim 3. [Appendix 5] a marker information acquisition unit configured to acquire the marker information; the image capture range calculation unit is configured to calculate the image capture range using the marker information acquired by the marker information acquisition unit. 5. An optimal layout proposal device according to any one of appendices 1 to 4. [Appendix 6] a camera information acquisition unit configured to acquire the camera information; The photographable range calculation unit is configured to calculate the photographable range using the camera information acquired by the camera information acquisition unit. 6. An optimal placement proposal device according to any one of appendices 1 to 5. [Appendix 7] the range filling area calculation unit is configured to calculate the range filling area so as to exclude blind spots in the map information from the range filling area. 7. An optimal placement proposal device according to any one of appendices 1 to 6. [Appendix 8] the optimal placement calculation unit is configured to calculate an optimal placement of the markers or the cameras in the installation possible area so as to maximize the range filling area and minimize the number of installations of the markers or the cameras. 8. An optimal placement proposal device according to any one of appendices 1 to 7. [Appendix 9] the optimal placement calculation unit is configured to calculate an optimal placement of the marker or the camera using a mathematical optimization technique. 9. An optimal placement proposal device according to any one of appendices 1 to 8. [Appendix 10] the optimal placement calculation unit is configured to calculate the minimum number of the markers or the cameras and the optimal placement of the markers or the cameras, after satisfying a predetermined condition for the range filling area. 10. An optimal placement proposal device according to any one of appendices 1 to 9. [Appendix 11] the optimal placement calculation unit is configured to calculate an optimal placement of the markers using a cost set according to the size of the markers. 11. An optimal placement proposal device according to any one of appendices 1 to 10. [Appendix 12] the optimal placement calculation unit is configured to calculate an optimal placement of the marker or the camera based on the conditions of the photographable range set for each of the movable areas. 12. An optimal placement proposal device according to any one of appendices 1 to 11. [Appendix 13] a step in which the optimal placement proposal device calculates a captureable range of the marker by the camera based on marker information including data related to the identifier and size of the marker and camera information including data related to the resolution and angle of view of the camera; a step in which the optimal layout proposal device calculates a range filling area by filling the movable area with the photographable range when the marker or the camera is installed in the installable area, based on map information including data related to the movable area and the installable area, and the photographable range; a step in which the optimal placement proposal device calculates an optimal placement of the marker or the camera in the installation possible area based on the range filling region; An optimal placement proposal method including: [Appendix 14] a process of calculating a captureable range of the marker by the camera based on marker information including data related to the identifier and size of the marker and camera information including data related to the resolution and angle of view of the camera; a process of calculating a range filling area by filling the movable area with the imageable range when the marker or the camera is installed in the installable area, based on map information including data related to the movable area and the installable area, and the imageable range; calculating an optimal placement of the marker or the camera in the installation possible area based on the range filling area; A program that causes the optimal placement proposal device to execute the above. Note that Supplements 13 and 14 relating to the method and program can be expanded as Supplements 2 to 12.

[0057] The disclosures of the above-mentioned patent documents are incorporated herein by reference and may be used as the basis or part of the present invention, if necessary. Modifications and adjustments of the embodiments are possible within the scope of the entire disclosure of the present invention (including the claims and drawings), and further based on the basic technical concept thereof. Furthermore, various combinations and selections (or non-selections, if necessary) of the various disclosed elements (including each element of each claim, each element of each embodiment or embodiment, each element of each drawing, etc.) are possible within the scope of the entire disclosure of the present invention. In other words, the present invention naturally includes various modifications and alterations that would be possible by a person skilled in the art in accordance with the entire disclosure and technical concept, including the claims and drawings. Furthermore, with regard to the numerical values ​​and numerical ranges described in this application, any intermediate values, lower values, and smaller ranges are deemed to be included, even if not explicitly stated. Furthermore, the disclosures of the above-cited documents, when used in part or in whole in combination with the disclosures herein as part of the disclosure of the present invention, in accordance with the spirit of the present invention, are also deemed to be included in (belong to) the disclosures of this application. [Explanation of symbols]

[0058] 10. Optimal layout proposal device 11 Map information acquisition section 12 Marker information acquisition unit 13 Camera information acquisition unit 15 Range filling area calculation unit 14. Shootable range calculation unit 16 Optimal placement calculation section 17 Optimal placement output section 18 Image map conversion unit 100 Hardware Resources 101 processors 102 memory 103 Network Interface 104 Internal Bus

Claims

1. a captureable range calculation unit configured to calculate a captureable range of the marker by the camera based on marker information including data related to a marker identifier and a size, and camera information including data related to a camera resolution and a field of view; a range filling area calculation unit configured to calculate a range filling area in which the imageable range when the marker or the camera is installed in the installable area is filled into the movable area based on map information including data related to a movable area and an installable area, and the imageable range; an optimal placement calculation unit configured to calculate an optimal placement of the marker or the camera in the installation possible area based on the range filling region; An optimal placement proposal device comprising:

2. an optimal placement output unit configured to generate and output optimal placement information based on an optimal placement of the marker or the camera; The optimal layout proposal device according to claim 1.

3. a map information acquisition unit configured to acquire the map information; the range filling area calculation unit is configured to calculate the range filling area using the map information acquired by the map information acquisition unit. The optimal layout proposal device according to claim 1.

4. an image map conversion unit configured to acquire image information including an image that is a basis for the map information and convert it into the map information; the map information acquisition unit is configured to acquire the map information converted by the image map conversion unit. The optimal layout proposal device according to claim 3.

5. a marker information acquisition unit configured to acquire the marker information; the image capture range calculation unit is configured to calculate the image capture range using the marker information acquired by the marker information acquisition unit. The optimal layout proposal device according to claim 1.

6. a camera information acquisition unit configured to acquire the camera information; The photographable range calculation unit is configured to calculate the photographable range using the camera information acquired by the camera information acquisition unit. The optimal layout proposal device according to claim 1.

7. the range filling area calculation unit is configured to calculate the range filling area so as to exclude blind spots in the map information from the range filling area. The optimal layout proposal device according to claim 1.

8. the optimal placement calculation unit is configured to calculate an optimal placement of the markers or the cameras in the installation possible area so as to maximize the range filling area and minimize the number of installations of the markers or the cameras. The optimal layout proposal device according to claim 1.

9. a step in which the optimal placement proposal device calculates a captureable range of the marker by the camera based on marker information including data related to the identifier and size of the marker and camera information including data related to the resolution and angle of view of the camera; a step in which the optimal layout proposal device calculates a range filling area by filling the movable area with the photographable range when the marker or the camera is installed in the installable area, based on map information including data related to the movable area and the installable area, and the photographable range; a step in which the optimal placement proposal device calculates an optimal placement of the marker or the camera in the installation possible area based on the range filling region; An optimal placement proposal method including:

10. a process of calculating a captureable range of the marker by the camera based on marker information including data related to the identifier and size of the marker and camera information including data related to the resolution and angle of view of the camera; a process of calculating a range filling area by filling the movable area with the imageable range when the marker or the camera is installed in the installable area, based on map information including data related to the movable area and the installable area, and the imageable range; calculating an optimal placement of the marker or the camera in the installation possible area based on the range filling area; A program that causes the optimal placement proposal device to execute the above.

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