Marker-Based Positioning for Movable Bodies
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Solution Overview
Problem
Existing positioning systems for movable bodies in indoor environments face challenges in accurately determining the position and orientation of imaging units using a limited number of markers, especially when markers are small or difficult to identify, and require complex calculations that can lead to inaccuracies.
Innovation Solution
An information processing apparatus that captures images of markers and auxiliary markers, using image processing to identify positions in both image and world coordinate systems, and performs primary positioning based on these markers, even with a small number of markers, by associating auxiliary markers with known positions to enhance positioning accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If a limited number of markers are used for positioning, then installation cost and complexity are reduced, but positioning accuracy deteriorates
Solution Approach 1:
The positioning target is segmented into multiple types of markers (first markers with known 3D positions and second markers with unknown positions). This segmentation allows the system to use fewer first markers for installation while introducing second markers to enhance positioning accuracy through image processing and coordinate system transformations.
Solution Approach 2:
The patent introduces an intermediary coordinate transformation process that maps positions from the image coordinate system to the world coordinate system using the first markers as reference points. This intermediary transformation enables accurate positioning even with a limited number of physical markers.
2Measurement precision
If complex calculations are performed for positioning, then positioning accuracy may improve, but computational error and processing time increase
Solution Approach 1:
The patent performs preliminary actions by pre-establishing the coordinate transformation relationships and storing the known 3D positions of first markers. During actual positioning operations, the system only needs to capture images and perform straightforward coordinate transformations, avoiding complex real-time calculations and reducing processing time.
3Adaptability or versatility
If markers are made small to reduce visibility interference, then they are harder to identify, but the environment aesthetics are improved
Solution Approach 1:
The patent utilizes color or reflectivity differences between first and second markers to enable easy identification through image processing. First markers have known positions and can be distinguished from second markers, allowing the system to identify even small markers accurately through their optical properties rather than size.
Data Source
AI summary
An information processing apparatus comprises a processing unit that acquires, from images captured by an imaging unit that is provided to a movable body and including markers that are disposed in a space, positions of the markers in an image coordinate system, acquire primary positioning information regarding the imaging unit in a world coordinate system, based on the positions of the markers in the image coordinate system and positions of the markers in the world coordinate system, and determines positioning information regarding the imaging unit based on the primary positioning information regarding the imaging unit in the world coordinate system and the positions of the markers in the world coordinate system.