JP2019109174A - Position calculation system, position calculation device, position calculation method, and program - Google Patents

Abstract

To simply perform space positioning.SOLUTION: A server 200 detects a plurality of light sources 102a, 102b, and 102c to which respective IDs are assigned in each of images acquired by imaging by cameras 201a and 201b, and acquires the image positions of the light sources 102a, 102b, and 102c. Furthermore, when a single imaged light source imaged by only one of the camera 201a and camera 201b exists, the server 200 acquires the Z-coordinate indicating the height of the single imaged light source, and acquires the installation position of the single imaged light source from the image position of the single imaged light source using the Z-coordinate.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a position calculation system, a position calculation device, a position calculation method, and a program.

  There is a technique for calculating the actual position of an object present in a predetermined space based on an image captured by a stereo camera composed of a plurality of imaging devices (see, for example, Patent Document 1). According to this technique, it is possible to obtain the position of an object only from a captured stereo image without directly measuring the position using a tool.

JP 2004-361222 A

  However, in the above-described technology, a plurality of imaging devices constituting a stereo camera need to be installed at positions where an object to be photographed can be photographed, and there is a problem that the degree of freedom is low in actual use.

  The present invention has been made in view of such problems, and an object thereof is to carry out spatial positioning more simply.

In order to achieve the above object, a position calculation system according to the present invention is
A light emitting device that emits light in a predetermined space;
A plurality of imaging devices in which the predetermined positions are imaged from different directions and the installation position and the imaging direction are set;
Acquisition means for acquiring the position of the light emitting device in an image captured by each of the plurality of imaging devices;
The installation position of the light emitting device in the predetermined space from the position of the light emitting device in the image acquired by the acquisition unit in each of the plurality of imaging devices, and the installation position and photographing direction of the plurality of imaging devices A first position information acquisition unit that acquires the three-dimensional position information;
A determination unit that determines whether the position of the light emitting device acquired by the acquisition unit is acquired from only one of the images captured by the respective units;
From the position of the light emitting device in the image acquired by the acquiring unit, the installation position and the imaging direction of the imaging device that images the light emitting device, and the auxiliary information, when the determination unit determines that the information is affirmed Second position information acquisition means for acquiring the installation position of the light emitting device in the predetermined space as three-dimensional position information;
And the like.

In order to achieve the above object, a position calculation device according to the present invention is
The images of the predetermined space where the light emitting device emitting light in a predetermined space is installed from different directions respectively in the images taken by each of a plurality of imaging devices in which the installation position and the photographing direction are set Acquisition means for acquiring the position of the light emitting device;
The installation position of the light emitting device in the predetermined space from the position of the light emitting device in the image acquired by the acquisition unit in each of the plurality of imaging devices, and the installation position and photographing direction of the plurality of imaging devices A first position information acquisition unit that acquires the three-dimensional position information;
A determination unit that determines whether the position of the light emitting device acquired by the acquisition unit is acquired from only one of the images captured by the respective units;
From the position of the light emitting device in the image acquired by the acquiring unit, the installation position and the imaging direction of the imaging device that images the light emitting device, and the auxiliary information, when the determination unit determines that the information is affirmed Second position information acquisition means for acquiring the installation position of the light emitting device in the predetermined space as three-dimensional position information;
And the like.

In order to achieve the above object, the position calculation method according to the present invention is
The images of the predetermined space where the light emitting device emitting light in a predetermined space is installed from different directions respectively in the images taken by each of a plurality of imaging devices in which the installation position and the photographing direction are set Obtaining the position of the light emitting device;
Installation of the light emitting device in the predetermined space from the position of the light emitting device in the image acquired in the acquiring step in each of the plurality of imaging devices, and the installation position and photographing direction of the plurality of imaging devices A first position information acquisition step of acquiring a position by three-dimensional position information;
A determination step of determining whether the position of the light emitting device acquired in the acquisition step is acquired from only one of the images captured in each of the respective images;
When the determination in the determination step is affirmative, the position of the light emitting device in the image acquired in the acquisition step, the installation position and the imaging direction of the imaging device capturing the light emitting device, and the auxiliary information A second position information acquiring step of acquiring the installation position of the light emitting device in the predetermined space as three-dimensional position information;
It is characterized by including.

In order to achieve the above object, a program according to the present invention is
Computer,
The images of the predetermined space where the light emitting device emitting light in a predetermined space is installed from different directions respectively in the images taken by each of a plurality of imaging devices in which the installation position and the photographing direction are set Acquisition means for acquiring the position of the light emitting device,
The installation position of the light emitting device in the predetermined space from the position of the light emitting device in the image acquired by the acquisition unit in each of the plurality of imaging devices, and the installation position and photographing direction of the plurality of imaging devices First position information acquisition means for acquiring the three-dimensional position information;
A determination unit that determines whether the position of the light emitting device acquired by the acquisition unit is acquired from only one of the images captured by the respective units;
From the position of the light emitting device in the image acquired by the acquiring unit, the installation position and the imaging direction of the imaging device that images the light emitting device, and the auxiliary information, when the determination unit determines that the information is affirmed A second position information acquisition unit that acquires the installation position of the light emitting device in the predetermined space as three-dimensional position information;
It is characterized in that it functions as

  According to the present invention, spatial positioning can be performed more easily.

It is a figure showing an example of the visible light communication system concerning the embodiment of the present invention. It is a figure which shows an example of a structure of the server which concerns on the embodiment. It is a figure which shows an example of the imaging | photography range of two cameras which concern on the same embodiment. It is a figure which shows an example of the reception information which concerns on the embodiment. It is a figure which shows an example of the captured image which concerns on the embodiment. It is a figure which shows an example of the height information table which concerns on the embodiment. It is a figure which shows an example of the acquisition method of the installation position which concerns on the embodiment. It is a figure which shows an example of the acquisition information containing the installation positional information which concerns on the embodiment. It is a flowchart which shows an example of operation | movement of the server which concerns on the embodiment.

  Hereinafter, a visible light communication system as an information processing system according to an embodiment of the present invention will be described with reference to the drawings.

  FIG. 1 is a diagram showing the configuration of a visible light communication system. As shown in FIG. 1, the visible light communication system 1 appropriately sets the devices 100 a, 100 b and 100 c installed in the space 500 (hereinafter referred to as “device 100” when the devices 100 a, 100 b and 100 c are not limited respectively. And a server 200 corresponding to the position calculation device. The space 500 can be defined by three-dimensional parameters including an X coordinate, a Y coordinate, and a Z coordinate, whereby the position of an object present in the space can be specified.

  A light source 102a corresponding to the light emitting device is attached to the device 100a, a light source 102b corresponding to the light emitting device is attached to the device 100b, and a light source 102c corresponding to the light emitting device is attached to the device 100c (hereinafter referred to as a light source When not limiting each of 102a, 102b, 102c, it calls "the light source 102 suitably". The light source 102 includes an LED (Light Emitting Diode) not shown.

  In the server 200, cameras 201a and 201b corresponding to an imaging device are attached (hereinafter, when each of the cameras 201a and 201b is not limited, it is appropriately referred to as "camera 201").

  In the present embodiment, the light source 102 attached to the device 100 is color-modulated by various transmission target information such as the state of the device 100, and the light emission color is changed along the time series to emit light. Send Note that the modulation method is a method of converting information to be transmitted into bit data, and assigning this data to a sequence of three primary colors (R (red) G (green) B (blue)) of light with predetermined regularity. To adopt. On the other hand, the server 200 demodulates the change of the luminescent color in the light image obtained by time-sequentially continuous imaging of the camera 201, and acquires the information emitted by the light source 102.

  FIG. 2 is a diagram showing an example of the configuration of the server 200. As shown in FIG. As shown in FIG. 2, the server 200 includes a control unit 202, an image processing unit 204, a memory 205, an operation unit 206, a display unit 207, and a communication unit 208. Also, cameras 201a and 201b are connected to the server 200 regardless of wired or wireless connection, and can communicate with each other.

  The camera 201a includes a lens 203a, and the camera 201b includes a lens 203b (hereinafter, when each of the lenses 203a and 203b is not limited, it is referred to as “lens 203” as appropriate). The lens 203 is configured by a wide-angle lens or the like that can partially fit the space 500 into the photographing angle of view, and moves in the focal length direction by focusing control by the operation unit 206 or the control unit 202. An imaging angle of view and an optical image to be imaged are controlled.

  The cameras 201a and 201b are configured by a plurality of light receiving elements regularly two-dimensionally arrayed on a light receiving surface represented by an imaging element. The imaging device is, for example, an imaging device such as a charge coupled device (CCD) or a complementary metal oxide semiconductor (CMOS). The cameras 201a and 201b capture (receive) an optical image incident through the lens 203 at an imaging angle of view of a predetermined range based on a control signal from the control unit 202, and an image signal within the imaging angle of view Into digital data to generate an image. Also, the cameras 201a and 201b perform imaging and generation of an image sequentially in time, and output continuous frames to the image processing unit 204 in the server 200. The position of each pixel or image area in the image is defined by a two-dimensional coordinate plane consisting of an X coordinate and a Y coordinate.

  In the present embodiment, the imaging range of the camera 201a and the imaging range of the camera 201b are configured to be different. Specifically, as shown in FIG. 3, both camera shooting ranges 501 are ranges in which both the camera 201 a and the camera 201 b can capture images, and the first camera shooting range 502 a can capture only the camera 201 a. The second camera shooting range 502b is a range in which only the camera 201b can capture an image. For this reason, both the camera 201a and the camera 201b can pick up the light source 102b present in both camera photographing ranges 501, and only the camera 201a can pick up the light source 102a present in the first camera photographing range 502a. The light source 102c existing in the second camera imaging range 502b can capture only the camera 201b.

  Again referring back to FIG. The image processing unit 204 outputs the image (digital data) output from the camera 201 as it is to the control unit 202 based on the control signal from the control unit 202, and causes the display unit 207 to display the image. The image quality and the image size are adjusted and output to the control unit 202. In addition, when a control signal based on a recording instruction operation from the operation unit 206 is input, the image processing unit 204 displays a display within the imaging angle of view of the camera 201 at the time of the recording instruction or on the display unit 207. For example, it has a function of encoding an optical image within the range according to a compression encoding method such as JPEG (Joint Photographic Experts Group) or MPEG (Moving Photographic Experts Group), converting into a still image file, or converting into a moving image file.

  The control unit 202 is configured of, for example, a CPU (Central Processing Unit). The control unit 202 controls various functions provided by the server 200 by executing software processing according to a program stored in the memory 205 (for example, a program for realizing the operation of the server 200 shown in FIG. 9 described later). Do.

  The memory 205 is, for example, a random access memory (RAM) or a read only memory (ROM). The memory 205 stores various information (programs and the like) used for control and the like in the server 200.

  The operation unit 206 is configured by a ten key, a function key, and the like, and is an interface used to input an operation content of the user. The display unit 207 is configured of, for example, a liquid crystal display (LCD), a plasma display panel (PDP), an electroluminescence (EL) display, or the like. The display unit 207 displays an image in accordance with the image signal output from the control unit 202. The communication unit 208 is, for example, a LAN (Local Area Network) card. The communication unit 208 communicates with an external communication device.

  The control unit 202 includes a received information acquisition unit 230 corresponding to an acquisition unit, a determination unit 232 corresponding to a determination unit, and a position information acquisition unit corresponding to a first position information acquisition unit and a second position information acquisition unit. 234 and an auxiliary information acquisition unit 236 corresponding to the auxiliary information acquisition unit.

  The reception information acquisition unit 230 detects the position of the light source 102 (image position: X-coordinate, Y-coordinate in a two-dimensional plane corresponding to the image) in the image obtained by imaging of the cameras 201a and 201b. Here, the light sources 102a, 102b, and 102c in the space 500 circulate in a three-color pattern of R (red) G (green) B (blue) modulated with an ID (Identification) that can uniquely identify itself. Emits light that changes

  The reception information acquisition unit 230 detects light of a cyclic three-color pattern included in each image obtained by imaging of the cameras 201a and 201b. Further, the reception information acquisition unit 230 attempts to detect and demodulate an ID corresponding to the light emission pattern of the three colors. When an ID is detected, the reception information acquisition unit 230 acquires the image position of the light source 102 corresponding to the ID in the image, and generates reception information.

  FIG. 4 is a diagram showing an example of the received information. FIG. 4A is an example of reception information generated from an image obtained by imaging by the camera 201a, and the generation time of the reception information, the camera name (cam1) of the camera 201a, and the ID ··· corresponding to the light source 102a. Image position information (1 being the ID of the light source 102a, coordinates Xg = X1 and Yg = Y1 which are the image positions of the light source 102a in the image obtained by imaging with the camera 201a), and ID and image positions corresponding to the light source 102b The information (ID 2 of the light source 102b, coordinates Xg = X2a, Yg = Y2a) of the image position of the light source 102b in the image obtained by the imaging of the camera 201a is included.

  In the present embodiment, the camera 201a can capture the light sources 102a and 102b as shown in the captured image 601a of FIG. 5A, but can not capture the light source 102c. Therefore, although the ID and image position information on the light sources 102a and 102b are generated from the image obtained by the imaging of the camera 201a, the ID and image position information on the light source 102c can not be generated.

  FIG. 4B is an example of reception information generated from an image obtained by the imaging of the camera 201b, the generation time of the reception information, the camera name (cam 2) of the camera 201b, and the ID ··· corresponding to the light source 102b. Image position information (2 which is the ID of the light source 102b, coordinates Xg = X2b, Yg = Y2b which is the image position of the light source 102b in the image obtained by imaging with the camera 201b), ID / image position corresponding to the light source 102c Information (3 which is the ID of the light source 102c, coordinates Xg = X3, Yg = Y3 which is the image position of the light source 102c in the image obtained by the imaging of the camera 201b) is configured.

  In the present embodiment, the camera 201b can capture the light sources 102b and 102c as shown in the captured image 601b of FIG. 5B, but can not capture the light source 102a. Therefore, although the ID and image position information of the light sources 102b and 102c are generated from the image obtained by the imaging of the camera 201b, the ID and image position information of the light source 102a can not be generated.

  Again referring back to FIG. The determination unit 232 determines whether or not the light source 102 (a single imaging light source) imaged by only one of the camera 201a and the camera 201b is present based on the generated reception information. Specifically, the determination unit 232 is shown in FIG. 4 (b), an ID included in the ID / image position information in the received information based on the image obtained by the imaging of the camera 201a shown in FIG. 4 (a). The ID contained in the received information based on the image obtained by the imaging of the camera 201b is compared with the ID contained in the image position information.

  Then, the determination unit 232 corresponds to the ID = 1 because the ID = 1 is included only in the ID / image position information in the received information based on the image obtained by the imaging of the camera 201a shown in FIG. 4A. It is determined that the light source 101a is a single imaging light source imaged only by the camera 201a. Further, the determination unit 232 corresponds to the ID = 3 because only the ID / image position information in the received information based on the image obtained by the imaging of the camera 201b shown in FIG. 4B shows the ID = 3. It is determined that the light source 101c is a single imaging light source imaged only by the camera 201b.

  On the other hand, ID = 2 image position information in the received information based on the image obtained by the imaging of the camera 201a shown in FIG. 4A, and obtained by the imaging of the camera 201b shown in FIG. 4B It is included in both ID and image position information in the received information based on the image. Therefore, the determination unit 232 determines that the light source 101b corresponding to ID = 2 is a light source (a plurality of imaging light sources) imaged by both the camera 201a and the camera 201b.

  Again referring back to FIG. When there are multiple imaging light sources, the position information acquisition unit 234 performs multiple imaging in the image positions of the multiple imaging light sources in the image acquired by the imaging of the camera 201a and the imaging in the image acquired by the camera 201b by a known method. Installation positions of multiple imaging light sources in the space 500 (X coordinate, Y coordinate, Z coordinate in the three-dimensional space corresponding to the space 500) using the image position of the light source, the installation position of the cameras 201a and 201b, and the imaging direction Calculate Thereby, the installation position of the light source 102b which is multiple imaging light source is calculated | required.

  On the other hand, when there is a single imaging light source, the auxiliary information acquisition unit 236 acquires, from the memory 205, information of Z coordinates indicating the height (Z direction) of the single imaging light source in the space 500 as the auxiliary information. FIG. 6 is a diagram showing an example of the height information table stored in the memory 205. As shown in FIG. In the height information table, the ID of each light source 102 is associated with information of the Z coordinate indicating the height from the floor surface (Z = 0) in the space 500 of the light source 102. The auxiliary information acquisition unit 236 acquires, from the memory 205, information of the Z coordinate corresponding to the ID of the single imaging light source. Here, the height information may be the Z coordinate when the installation position is acquired when the corresponding light source 102 has become a plurality of imaging light sources in the past, or the Z coordinate obtained by the measurement of the worker Good.

  Again referring back to FIG. The position information acquisition unit 234 acquires the installation position of the single imaging light source (X coordinate, Y coordinate, Z coordinate in the three-dimensional space corresponding to the space 500) using the acquired height of the single imaging light source. FIG. 7 is a diagram showing an example of an acquisition method of the installation position of the light source 102a which is a single imaging light source included in the image captured by the camera 201a. In FIG. 7, the installation position (Xk1, Yk1, Zk1) of the light source 102a is acquired. Zk1 is acquired from the height information table.

  The position information acquisition unit 234 uses the image position of the light source 102a in the image obtained by the imaging of the camera 201a, the installation position of the camera 201a, and the imaging direction according to a known method. A provisional installation position (Xk0, Yk0, Zk0) when it is assumed to exist in the plane (Z = 0) is calculated. Next, the position information acquisition unit 234 projects the length from the installation position (Xs1, Ys1, Zs1) of the camera 201a to the temporary installation position (Xk0, Yk0, Zk0) of the light source 102a onto the XY plane, In other words, the length L1 from (Xs1, Ys1) to (Xk0, Yk0) is calculated.

  Next, the position information acquisition unit 234 projects the length from the installation position (Xs1, Ys1, Zs1) of the camera 201a to the actual installation position (Xk1, Yk1, Zk1) of the light source 102a onto the XY plane, In other words, the length L2 from (Xs1, Ys1) to (Xk1, Yk1) is calculated by L2 = (Zs1-Zk1) × L1 / Zs1.

  Furthermore, in the position information acquisition unit 234, the length from (Xs1, Ys1) to (Xk1, Yk1) satisfies L2, and the vector from (Xs1, Ys1) to (Xk1, Yk1) is (Xs1, Ys1). (Xk1, Yk1) is specified so as to be in the same direction as the vector from (Xk0, Yk0) toward (Xk0, Yk0). Thus, the installation position (Xk1, Yk1, Zk1) of the light source 102a is acquired by the specified (Xk1, Yk1) and the acquired Zk1. The method of acquiring the installation position of the light source 102c, which is a single imaging light source, is the same.

  The position information acquisition unit 234 generates acquisition information including installation position information for each of the single imaging light source and the plurality of imaging light sources. FIG. 8 is a diagram showing an example of acquired information including installation position information. FIG. 8A shows acquired information corresponding to the light source 102a which is a single imaging light source, and a generation time of the acquired information and a positioning level (M) indicating acquisition of an installation position corresponding to the single imaging light source The camera name (cam1) of the camera 201a that has captured the light source 102a, the coordinates (Xk1 = 18.0, Yk1 = 5.0, Zk1 = 1.2) which are the installation position information corresponding to the light source 102a, and the accuracy information (Likelihood P = −1.0). As the accuracy information, a low value is set in the case of a single imaging light source, and a high value is set in the case of a plurality of imaging light sources. By adding the accuracy information, when using the installation information in the subsequent processing, it is possible to refer to the determination of usability, such as using only the installation information with high accuracy.

  FIG. 8 (b) shows acquired information corresponding to the light source 102b which is a plurality of imaging light sources, and a generation time of acquisition information and a positioning level (S) indicating acquisition of an installation position corresponding to the plurality of imaging light sources The camera name (cam1 / cam2) of the camera 201a or 201b that has captured the light source 102b and the coordinates (Xk2 = 10.2, Yk2 = 11.1, Zk2 = 0.3) that is the installation position information corresponding to the light source 102b And accuracy information (P = 1.0).

  FIG. 8C shows acquired information corresponding to the light source 102c which is a single imaging light source, and includes a generation time of the acquired information and a positioning level (M) indicating acquisition of an installation position corresponding to the single imaging light source. The camera name (cam2) of the camera 201b that has captured the light source 102c, the coordinates (Xk3 = 5.2, Yk3 = 7.0, Zk3 = 1.1) which are the installation position information corresponding to the light source 102c, and the accuracy information And (P = -1.0).

  Next, the operation of the server 200 will be described with reference to the flowchart. FIG. 9 is a flowchart showing an example of the operation of the server 200.

  The cameras 201 a and 201 b perform imaging in the space 500. The reception information acquisition unit 230 in the control unit 202 detects the light source 102 in each image obtained by the imaging of the cameras 201a and 201b (step S101).

  Next, the reception information acquisition unit 230 acquires an ID corresponding to the light of the three-color pattern from the detected light source 102 included in the image, acquires an image position of the light source 102, and generates reception information. (Step S102).

  The determination unit 232 determines the ID included in the ID / image position information in the received information based on the image obtained by the imaging of the camera 201a and the ID / image position in the received information based on the image obtained by the imaging of the camera 201b. It is determined whether the light source 102 (a single imaging light source) imaged by only one of the camera 201a and the camera 201b is present by comparing the ID included in the information (step S103).

  When a single imaging light source exists (step S103; YES), the auxiliary information acquisition unit 236 acquires information of Z coordinates indicating the height (Z direction) of the single imaging light source in the space 500 (step S104). ). Next, the position information acquisition unit 234 acquires the installation position of the single imaging light source by the acquisition method illustrated in FIG. 7 using the acquired Z coordinate (step S105). When there are a plurality of single imaging light sources, the processes of steps S104 and S105 are repeated.

  After acquiring the installation position of the single imaging light source in step S105, or when it is determined that there is no single imaging light source in step S103 (step S103; NO), the determination unit 232 selects the image obtained by the imaging of the camera 201a. By comparing the ID included in the ID / image position information in the received information based on the ID with the ID included in the ID / image position information in the received information based on the image obtained by the imaging of the camera 201b, the camera 201a and It is determined whether there is a light source 102 (a plurality of imaging light sources) imaged by both of the cameras 201b (step S106).

  When multiple imaging light sources exist (step S106; YES), the position information acquisition unit 234 performs multiple imaging by a known method using the image positions of the multiple imaging light sources acquired by imaging of the camera 201a and the camera 201b. The installation position of the light source is acquired (step S107). When there are a plurality of single imaging light sources, the process of step S107 is repeated.

  After obtaining the installation positions of the plurality of imaging light sources in step S107, or when it is determined in step S106 that there is no more than one imaging light source (step S106; NO), a series of operations are completed.

  As described above, in the present embodiment, the server 200 detects a plurality of light sources 102 to which an ID is assigned in each image obtained by imaging of the cameras 201a and 201b, and acquires an image position of the light source 102. Furthermore, in the case where there are a plurality of imaging light sources imaged by both the camera 201a and the camera 201b, the server 200 detects the image positions of the plurality of imaging light sources, the installation positions of the cameras 201a and 201b and imaging by a known method. The installation positions of the plurality of imaging light sources are acquired from the direction. On the other hand, when there is a single imaging light source imaged only by one of the camera 201a and the camera 201b, the server 200 acquires the Z coordinate indicating the height of the single imaging light source, and the Z coordinate and the single imaging The installation position of the single imaging light source is acquired from the image position of the light source, the installation position of the camera 201, and the imaging direction. Conventionally, when there is a single imaging light source imaged only by one of the camera 201a and the camera 201b, it is difficult to obtain the installation position of the single imaging light source, but in this embodiment, it is set in advance. The installation position of the single imaging light source can be acquired by using the Z coordinate of the single imaging light source as the auxiliary information.

  In addition, since each light source 102 in the space 500 emits light corresponding to an ID that can uniquely identify itself, the server 200 distinguishes each other even when there are a plurality of light sources 102. The installation position of the light source 102 can be acquired.

  The present invention is not limited by the above description of the embodiments and the drawings, and appropriate modifications and the like can be added to the embodiments and the drawings.

  In the embodiment described above, as shown in FIG. 6, height information is set for each light source 102, but only one average value of the heights of each light source 102 is set, and any single imaging light source may be used. Even if there is, the installation position may be acquired using the average value.

  Further, in the embodiment described above, the light source 102 emits light corresponding to an ID that can uniquely identify itself. However, the present invention is not limited thereto, and some or all of the light sources 102 may be cyclic in a three-color pattern of R (red) G (green) B (blue) modulated at their own installation position in the space 500. It may be possible to emit light that changes. In this case, the server 200 attempts to detect and demodulate the installation position of the light source 102 corresponding to the three color light emission pattern.

  Also, the light source 102 is not limited to the LED. For example, the light source may be configured in part of an LCD, a PDP, an EL display, or the like that configures a display device.

  The server 200 may be any device as long as a camera can be attached.

  In the above embodiment, the program to be executed may be a computer-readable recording medium such as a flexible disk, a compact disc read only memory (CD-ROM), a digital versatile disc (DVD), a magneto optical disc (MO) or the like. By storing and distributing in a medium and installing the program, a system that executes the above-described processing may be configured.

  Alternatively, the program may be stored in a disk device or the like included in a predetermined server on a network such as the Internet, and may be, for example, superimposed on a carrier wave to be downloaded or the like.

  When the OS (Operating System) shares and realizes the above functions, or when the OS and an application cooperate to realize it, etc., only the part other than the OS may be stored and distributed in the medium. Well, you may download it.

  Although the preferred embodiments of the present invention have been described above, the present invention is not limited to the specific embodiments, and the present invention includes the invention described in the claims and the equivalents thereof. Be In the following, the invention described in the original claims of the present application is appended.

(Supplementary Note 1)
A light emitting device that emits light in a predetermined space;
A plurality of imaging devices in which the predetermined positions are imaged from different directions and the installation position and the imaging direction are set;
Acquisition means for acquiring the position of the light emitting device in an image captured by each of the plurality of imaging devices;
The installation position of the light emitting device in the predetermined space from the position of the light emitting device in the image acquired by the acquisition unit in each of the plurality of imaging devices, and the installation position and photographing direction of the plurality of imaging devices A first position information acquisition unit that acquires the three-dimensional position information;
A determination unit that determines whether the position of the light emitting device acquired by the acquisition unit is acquired from only one of the images captured by the respective units;
From the position of the light emitting device in the image acquired by the acquiring unit, the installation position and the imaging direction of the imaging device that images the light emitting device, and the auxiliary information, when the determination unit determines that the information is affirmed Second position information acquisition means for acquiring the installation position of the light emitting device in the predetermined space as three-dimensional position information;
A position calculation system comprising:

(Supplementary Note 2)
The images of the predetermined space where the light emitting device emitting light in a predetermined space is installed from different directions respectively in the images taken by each of a plurality of imaging devices in which the installation position and the photographing direction are set Acquisition means for acquiring the position of the light emitting device;
The installation position of the light emitting device in the predetermined space from the position of the light emitting device in the image acquired by the acquisition unit in each of the plurality of imaging devices, and the installation position and photographing direction of the plurality of imaging devices A first position information acquisition unit that acquires the three-dimensional position information;
A determination unit that determines whether the position of the light emitting device acquired by the acquisition unit is acquired from only one of the images captured by the respective units;
From the position of the light emitting device in the image acquired by the acquiring unit, the installation position and the imaging direction of the imaging device that images the light emitting device, and the auxiliary information, when the determination unit determines that the information is positive Second position information acquisition means for acquiring the installation position of the light emitting device in the predetermined space as three-dimensional position information;
A position calculation apparatus comprising:

(Supplementary Note 3)
The position calculation device according to appendix 2, wherein there are a plurality of light emitting devices, each of which modulates and emits a signal capable of uniquely identifying itself.

(Supplementary Note 4)
The position calculation apparatus according to claim 3, wherein the light emitting device uses three-dimensional position information as a signal capable of uniquely identifying the self.

(Supplementary Note 5)
The position calculation device according to any one of appendices 2 to 4, further comprising auxiliary information acquisition means for acquiring the auxiliary information.

(Supplementary Note 6)
The determination means is based on the number of the plurality of imaging devices and the number of imaging devices capable of imaging the light emitting device, the position of the light emitting device acquired by the acquiring means is among the images captured by the respective The position calculation device according to any one of appendices 2 to 5, wherein it is determined whether or not acquired from only one of the above.

(Appendix 7)
The position calculation device according to any one of appendices 2 to 6, wherein the auxiliary information is information on the Z direction in a three-dimensional coordinate space consisting of an X coordinate, a Y coordinate, and a Z coordinate.

(Supplementary Note 8)
Among the plurality of light emitting devices, with regard to the position of the light emitting device determined to be affirmative by the determining means, the second position information acquiring means sets the installation position of the light emitting device in the predetermined space to With regard to the position of the light emitting device determined as negative by the position information while obtaining by the position information, the installation position of the light emitting device in the predetermined space by the first position information acquiring means is a three-dimensional position The position calculation device according to any one of appendices 3 or 4, further comprising control means for performing control to obtain information.

(Appendix 9)
The images of the predetermined space where the light emitting device emitting light in a predetermined space is installed from different directions respectively in the images taken by each of a plurality of imaging devices in which the installation position and the photographing direction are set Obtaining the position of the light emitting device;
Installation of the light emitting device in the predetermined space from the position of the light emitting device in the image acquired in the acquiring step in each of the plurality of imaging devices, and the installation position and photographing direction of the plurality of imaging devices A first position information acquisition step of acquiring a position by three-dimensional position information;
A determination step of determining whether the position of the light emitting device acquired in the acquisition step is acquired from only one of the images captured in each of the respective images;
When the determination in the determination step is affirmative, the position of the light emitting device in the image acquired in the acquisition step, the installation position and the imaging direction of the imaging device capturing the light emitting device, and the auxiliary information A second position information acquiring step of acquiring the installation position of the light emitting device in the predetermined space as three-dimensional position information;
A position calculation method characterized by including.

(Supplementary Note 10)
Computer,
The images of the predetermined space where the light emitting device emitting light in a predetermined space is installed from different directions respectively in the images taken by each of a plurality of imaging devices in which the installation position and the photographing direction are set Acquisition means for acquiring the position of the light emitting device,
The installation position of the light emitting device in the predetermined space from the position of the light emitting device in the image acquired by the acquisition unit in each of the plurality of imaging devices, and the installation position and photographing direction of the plurality of imaging devices First position information acquisition means for acquiring the three-dimensional position information;
A determination unit that determines whether the position of the light emitting device acquired by the acquisition unit is acquired from only one of the images captured by the respective units;
From the position of the light emitting device in the image acquired by the acquiring unit, the installation position and the imaging direction of the imaging device that images the light emitting device, and the auxiliary information, when the determination unit determines that the information is affirmed A second position information acquisition unit that acquires the installation position of the light emitting device in the predetermined space as three-dimensional position information;
A program characterized by acting as

DESCRIPTION OF SYMBOLS 1 ... visible light communication system, 100, 100a, 100b, 100c ... apparatus, 102, 102a, 102b, 102c ... light source, 200 ... server, 201, 201a, 201b ... camera, 202 ... control part, 203, 203a, 203b ... Lens, 204, image processing unit, 205, memory, 206, operation unit, 207, display unit, 208, communication unit, 230, reception information acquisition unit, 232, determination unit, 234, positional information acquisition unit, 236, auxiliary information Acquisition part, 500 ... space, 501 ... both camera shooting range, 502a ... first camera shooting range, 502b ... second camera shooting range, 601a, 601b ... captured image

Claims (10)

A light emitting device that emits light in a predetermined space;
A plurality of imaging devices in which the predetermined positions are imaged from different directions and the installation position and the imaging direction are set;
Acquisition means for acquiring the position of the light emitting device in an image captured by each of the plurality of imaging devices;
The installation position of the light emitting device in the predetermined space from the position of the light emitting device in the image acquired by the acquisition unit in each of the plurality of imaging devices, and the installation position and photographing direction of the plurality of imaging devices A first position information acquisition unit that acquires the three-dimensional position information;
A determination unit that determines whether the position of the light emitting device acquired by the acquisition unit is acquired from only one of the images captured by the respective units;
From the position of the light emitting device in the image acquired by the acquiring unit, the installation position and the imaging direction of the imaging device that images the light emitting device, and the auxiliary information, when the determination unit determines that the information is positive Second position information acquisition means for acquiring the installation position of the light emitting device in the predetermined space as three-dimensional position information;
A position calculation system comprising: The images of the predetermined space where the light emitting device emitting light in a predetermined space is installed from different directions respectively in the images taken by each of a plurality of imaging devices in which the installation position and the photographing direction are set Acquisition means for acquiring the position of the light emitting device;
The installation position of the light emitting device in the predetermined space from the position of the light emitting device in the image acquired by the acquisition unit in each of the plurality of imaging devices, and the installation position and photographing direction of the plurality of imaging devices A first position information acquisition unit that acquires the three-dimensional position information;
A determination unit that determines whether the position of the light emitting device acquired by the acquisition unit is acquired from only one of the images captured by the respective units;
From the position of the light emitting device in the image acquired by the acquiring unit, the installation position and the imaging direction of the imaging device that images the light emitting device, and the auxiliary information, when the determination unit determines that the information is affirmed Second position information acquisition means for acquiring the installation position of the light emitting device in the predetermined space as three-dimensional position information;
A position calculation apparatus comprising:   3. The position calculation device according to claim 2, wherein there are a plurality of light emitting devices, each of which modulates and emits a signal that can uniquely identify itself.   The position calculation apparatus according to claim 3, wherein the light emitting device uses three-dimensional position information as a signal capable of uniquely identifying the self.   The position calculation device according to any one of claims 2 to 4, further comprising auxiliary information acquisition means for acquiring the auxiliary information.   The determination means is based on the number of the plurality of imaging devices and the number of imaging devices capable of imaging the light emitting device, the position of the light emitting device acquired by the acquiring means is among the images captured by the respective The position calculation device according to any one of claims 2 to 5, wherein it is determined whether or not it has been acquired from only one of the two.   The position calculation device according to any one of claims 2 to 6, wherein the auxiliary information is information on the Z direction in a three-dimensional coordinate space consisting of an X coordinate, a Y coordinate, and a Z coordinate. .   Among the plurality of light emitting devices, with regard to the position of the light emitting device determined to be affirmative by the determining means, the second position information acquiring means sets the installation position of the light emitting device in the predetermined space to With regard to the position of the light emitting device determined as negative by the position information while obtaining by the position information, the installation position of the light emitting device in the predetermined space by the first position information acquiring means is a three-dimensional position 5. The position calculation device according to claim 3, further comprising control means for controlling to obtain information. The images of the predetermined space where the light emitting device emitting light in a predetermined space is installed from different directions respectively in the images taken by each of a plurality of imaging devices in which the installation position and the photographing direction are set Obtaining the position of the light emitting device;
Installation of the light emitting device in the predetermined space from the position of the light emitting device in the image acquired in the acquiring step in each of the plurality of imaging devices, and the installation position and photographing direction of the plurality of imaging devices A first position information acquisition step of acquiring a position by three-dimensional position information;
A determination step of determining whether the position of the light emitting device acquired in the acquisition step is acquired from only one of the images captured in each of the respective images;
When the determination in the determination step is affirmative, the position of the light emitting device in the image acquired in the acquisition step, the installation position and the imaging direction of the imaging device capturing the light emitting device, and the auxiliary information A second position information acquiring step of acquiring the installation position of the light emitting device in the predetermined space as three-dimensional position information;
A position calculation method characterized by including. Computer,
The images of the predetermined space where the light emitting device emitting light in a predetermined space is installed from different directions respectively in the images taken by each of a plurality of imaging devices in which the installation position and the photographing direction are set Acquisition means for acquiring the position of the light emitting device,
The installation position of the light emitting device in the predetermined space from the position of the light emitting device in the image acquired by the acquisition unit in each of the plurality of imaging devices, and the installation position and photographing direction of the plurality of imaging devices First position information acquisition means for acquiring the three-dimensional position information;
A determination unit that determines whether the position of the light emitting device acquired by the acquisition unit is acquired from only one of the images captured by the respective units;
From the position of the light emitting device in the image acquired by the acquiring unit, the installation position and the imaging direction of the imaging device that images the light emitting device, and the auxiliary information, when the determination unit determines that the information is affirmed A second position information acquisition unit that acquires the installation position of the light emitting device in the predetermined space as three-dimensional position information;
A program characterized by acting as

Images