Title:
COORDINATE SYSTEM CONVERSION PARAMETER ESTIMATION DEVICE, METHOD, AND PROGRAM
Document Type and Number:
WIPO Patent Application WO/2020/179526
Kind Code:
A1
Abstract:
Provided is a technique capable of acquiring a coordinate system conversion parameter more easily than conventional techniques. This coordinate system conversion parameter estimation device is provided with: a camera coordinate system corresponding point estimation unit 2 that estimates the three-dimensional position of a joint of an operation body in a camera coordinate system from a camera image showing the manner in which the operation body operates a marker of which the three-dimensional position in a sensor coordinate system can be acquired by a sensor, and sets the estimated three-dimensional position as the three-dimensional position of a corresponding point in the camera coordinate system; a sensor coordinate system corresponding point estimation unit 4 that estimates, from a series of three-dimensional positions of the marker corresponding to the camera image, a prescribed point of a graphic drawn by all or a part of the series of three-dimensional positions of the marker, and sets the estimated point as the three-dimensional position of a corresponding point in the sensor coordinate system; and a coordinate system conversion parameter estimation unit 5 that estimates a coordinate system conversion parameter between the camera coordinate system and the sensor coordinate system from the three-dimensional position of the corresponding point in the camera coordinate system and the three-dimensional position of the corresponding point in the sensor coordinate system.
Inventors:
TAKAHASHI KOSUKE (JP)
MIKAMI DAN (JP)
ISOGAWA MARIKO (JP)
KUSACHI YOSHINORI (JP)
MIKAMI DAN (JP)
ISOGAWA MARIKO (JP)
KUSACHI YOSHINORI (JP)
Application Number:
PCT/JP2020/007288
Publication Date:
September 10, 2020
Filing Date:
February 25, 2020
Export Citation:
Assignee:
NIPPON TELEGRAPH & TELEPHONE (JP)
International Classes:
G01B21/00
Domestic Patent References:
| WO2015137526A1 | 2015-09-17 |
Foreign References:
| JP2017119102A | 2017-07-06 | |||
| JP2017037554A | 2017-02-16 | |||
| US20120303336A1 | 2012-11-29 |
Attorney, Agent or Firm:
NAKAO, Naoki et al. (JP)
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