WO2016102721A1 - Procédé et système de localisation spatiale au moyen de marqueurs lumineux pour tout type d'environnement - Google Patents

Procédé et système de localisation spatiale au moyen de marqueurs lumineux pour tout type d'environnement Download PDF

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Publication number
WO2016102721A1
WO2016102721A1 PCT/ES2015/000182 ES2015000182W WO2016102721A1 WO 2016102721 A1 WO2016102721 A1 WO 2016102721A1 ES 2015000182 W ES2015000182 W ES 2015000182W WO 2016102721 A1 WO2016102721 A1 WO 2016102721A1
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Prior art keywords
marker
coordinates
instant
image
target
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PCT/ES2015/000182
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English (en)
Spanish (es)
Inventor
Eugenio VILLAR BONEL
PATRICIA Mª MARTINEZ MEDIAVILLA
Francisco José ALCALÁ GALÁN
Pablo Pedro SÁNCHEZ ESPESO
Victor FERNÁNDEZ SOLORZANO
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Universidad de Cantabria
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Universidad de Cantabria
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    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras

Definitions

  • the present invention belongs to the fields of electronics and telecommunications. Specifically, the present invention applies to the industry area! that collects the techniques of detection of reference points for the location and positioning of a target (a person, animal or an object) in controlled environments.
  • the present invention relates to a method and system for obtaining, from the use of light markers, the position and orientation of an object or subject, applicable to any type of environment, interior or exterior.
  • object tracking is closely related to augmented reality, where knowledge of the individual's position is essential.
  • This technology mixes virtual elements with real images, allowing the user to expand their information from the real world or interact with it.
  • Virtual reality replaces physical reality with computer data.
  • Augmented reality systems can use a transparent optical display (for example, Google Glass) or an image mixing screen (for example, using a smart mobile phone, ' smartphcne ') as a visuaiizadón device. in English).
  • a transparent optical display for example, Google Glass
  • an image mixing screen for example, using a smart mobile phone, ' smartphcne '
  • visuaiizadón device in English.
  • they can be based on the use of cameras, optical sensors, accelerometers, gyroscopes, GPS, etc.
  • stereo cameras and epipole geometry When only one reference marker can be displayed, the use of stereo cameras and epipole geometry must be used.
  • the characterization of a point in three-dimensional space requires knowledge of its coordinates (y, y, z) within the environment where it is located, with respect to a reference position.
  • the most common technique is based on the use of two or more calibrated cameras, which provide a left and right image of the same scene.
  • stereo correspondences are applied (look for the same point in both images) and projective or epipolar geometry is calculated (it describes the relationship between the image planes of the cameras and the point).
  • VVO 201 3/120041 A1 "ethod and apparatus fctr 3D spatiai lecalizaiion and tracking of objects using active optics! lighting and sensing ”
  • this type of light sources with variable illuminance or pulsed light, so it can cause synchronization failures.
  • the use of light markers can pose problems, specifically in environments where there are sources of light with an Iuminance much greater than the marker itself (in the worst case, sunlight) or sources that emit radiation in the same direction; in those situations, the image sensor is not able to differentiate one light source from another, so it will force such and as it happened before, to use this technology in luminous environments without large sources of light in it.
  • infrared markers located on the wall of a room to locate the user.
  • active markers are formed by a set of three infrared LEDs and a signal emitter, which sends data of its real position to a signal decoder that the user carries, so that once it is detected they know their absolute position.
  • Passive markers are only an infrared light source, from which they obtain the relative position of the user. In addition to relying on the reception of signals from active markers, they calculate the relative distance to the marker from stereo vision. He Use of this technique, even here! which occurred in the cases explained above, is limited to interior spaces.
  • Radio frequency techniques consist of measuring distances, of static or mobile objects, from the emission of electromagnetic pulses that are reflected in a receiver. These electromagnetic waves will be reflected when there are significant changes in the atomic density between the environment and the object, so they work particularly well in cases of conductive materials (metals). They are able to detect objects at a greater distance than other systems based on light or sound, however they are quite sensitive to interference or noise. It is also difficult to measure objects that are between each other at different distances to the emitter, because the pulse frequency will vary (slower the farther and vice versa).
  • LIDAR systems which calculate the distance over the time it takes for a light pulse to be reflected on an object or surface, using a device with a pulsed laser as a light emitter and a photodetector as a signal receiver. reflected.
  • the advantage of these systems is the precision they achieve over long distances (using lasers with a wavelength> 1000 nm) and the possibility of mapping large areas, by sweeping light pulses. Its drawbacks are the need to perform the analysis and processing of each point, as well as the difficulty of automatically reconstructing three-dimensional images.
  • the objective technical problem that arises is thus to provide a system for the detection of the position and orientation of an individual or object in any type of environment, interior or exterior, with whatever their lighting conditions.
  • the present invention serves to solve the aforementioned problems, solving the problems presented by the solutions mentioned in the state of the art, providing a system that, from; Using one or more reference luminous markers and a single stereo camera, it allows locating space objects or individuals in a scenario under any environmental condition and with greater distances between the user and the marker.
  • the system relies primarily on the use of light markers to calculate relative positions of! object / individual, a stereo camera to visualize those markers on the stage image and an electronic device for measuring angles, such as a gyroscope or electronic compass, to provide turning angles of the target user (object, person or animal) .
  • the present invention makes it possible to detect reference luminous markers in any type of environment, regardless of the light sources that determine the environmental conditions.
  • One aspect of the invention relates to a method for positioning or locating an objective by using reference markers in any 3D environment that, from a first image frame at an instant of current time and a second image frame in a previous time instant captured by a stereo camera, images in which at least one marker is detected, obtains the coordinates ( ⁇ ⁇ , and n ) of the objective at the current time instant n, for which it performs the following steps:
  • the first image frame and the second image frame are equal, calculate the coordinates (x n> yr.) Of! target instantly acts! equalizing them to the coordinates ( ⁇ , ⁇ , ⁇ , .. ⁇ ; of the objective in the previous instant; - if not, otherwise, it obtains the image coordinates of, at least one detected marker, and its radius, to compare ios radios in the current time instant n and in the previous time instant n-1 and: - if the radii are equal and there are a plurality of markers, the coordinates (x n . and n ) of the objective at the present time are obtained by triangulation using the first image frame and the second image frame;
  • the coordinates (x n , and f ,) of the objective at the current moment are obtained by triangulation but using a single image frame, the one captured at the current moment;
  • the coordinates ⁇ x r composerand n ) of the target at the current moment are obtained by the stereo geometry algorithm known in the prior art;
  • the coordinates (x r , y n ) of the target at the present time are obtained through an algorithm reminiscent of stereo geometry but using the image coordinates of the marker in e! instant time acts! and in the previous instant of time, instead of a left and right image of the same instant of time
  • Another aspect of the invention relates to a system for locating an objective, which can be an object or an individual, from at least one reference marker in a 3D space or environment, comprising the following means;
  • a stereo camera to capture image frames in which one or more markers are detected
  • a signal processor with access to a storage device (a memory), configured to perform the steps of the method described above to obtain at its output the coordinates (x ⁇ and r ) of the target calculated at the instant of current time, using, according to each case indicated above, the data obtained at the previous time stored in memory.
  • a storage device a memory
  • a light source is used, identifiable in the environment of use.
  • the invention described can be used for Simulated Reality applications.
  • glasses are incorporated into the system Virtual reality. Both the stereo camera and the glasses can be part of a helmet or holding equipment that is placed on the user's head and connecting the camera with the glasses.
  • the system can additionally incorporate an accelerometer, which measures the displacement made in a finite time, which would reduce the cumulative errors.
  • the present invention solves the problem of computation time of existing systems such as that described in US 7,231, 063 B2 ⁇ because contrast enhancement algorithms and / or specific saved markers are required on a data base s because in the present invention light markers are used that work in the visible or infrared spectrum, such as light emitting diodes (LEDs)
  • one of the differences of the present invention is that it uses fixed light sources and comes to solve the problem that occurs in environments where there are light sources with an intensity much greater than the marker itself .
  • the present invention uses an element that prevents the light conditions of an environment from affecting significantly as is the use of a background after the source of iuz.
  • FIGURE 1 Shows a schematic block diagram of the spatial location system of individuals or objects, according to a preferred embodiment of the invention.
  • FIGURE 3. Shows an environment of use of the markers of Figure 2 and in which the system of Figure 1 is applicable, according to a possible embodiment.
  • FIGURES 4 ⁇ -4 ⁇ .- They show a scheme of the markers and parameters used by the system to locate individuals or objects that move vertically in it and when only one marker is detected.
  • FIGURES 5A-5B - They show a scheme of the markers and parameters that the system uses to locate in the environment individuals or objects that move vertically and when more than one marker is detected.
  • FIGURE 6A It shows a scheme of the markers and parameters that the system uses to locate individuals or objects that move horizontal in the environment and when only a single marker is detected.
  • FIGURE 8B - Shows a scheme of the markers and parameters used by the system to locate in the environment individuals or objects that move horizontally and when more than one marker is detected.
  • FIGURE 7.- It shows a scheme of the operation of the method, it is merely an example of data flow.
  • possible embodiments of the obtaining system are proposed, based on the use of one or more luminous markers, from the position and orientation of a user, in different possible environments, which can be indoors or outdoors, within A controlled scenario.
  • Figure 1 shows a schematic diagram of the system block architecture for locating in e! space ios objects or individuals that constitute an objective (10) in a three-dimensional environment (1 1) under any environmental condition defined by a number m3 ⁇ 41 of light sources (f, fLg, ft : 3 ⁇ 4 fL TM), having one or more light markers (20) as coughs shown in Figures 2-3, 4A-4B, 5A-5B and 6A-8B E!
  • the system comprises a stereo camera ⁇ 12 ⁇ to detect the luminous markers (20) and an electronic angle measuring device (13), for example, a gyroscope or electronic compass, with which the rotation angles of the objective are obtained ( 10).
  • the system comprises a digital signal processor (14) that calculates the position coordinates in the space of each luminous marker (20) in time and stores them in a memory or storage device (15).
  • Digital signal processor (14) uses the stored coordinates and the output parameters obtained from the stereo camera (12) and the angle measuring device (13) to determine at its output (18) the position of the target user (10) .
  • a type of reference marker (20) of those used is shown in Figure 2, which is a luminous marker and comprises two main elements: a light source (21) and a contrast surface (22).
  • the preferred light source (21) is an LED emitting in e! visible range: 400-700 nm.
  • This type of source is a point light source that achieves ranges greater than 50 m for powers greater than 1 W.
  • an LED can be considered a non-hazardous product due to the optical powers in which it works since in the worst of the cases the exposure time is very low (aversion reaction time ⁇ -250 ms).
  • the system can use luminous markers (20) with other types of light sources (21), because the device detecting the luminous marker (20), that is, the stereo camera (12) used as light receiver detects both light sources ⁇ 21 ⁇ that work in the visible and infrared spectrum.
  • the image sensor of the stereo camera (12) has a spectral curve that, for the wavelength of the LED used, indicates a spectral response with a value greater than 0.005 A / VV.
  • Filament bulbs are another example of light sources (21), although they are diffuse sources with emitted optical powers below the range with an LED.
  • Another possible light source (21) can be a laser diode, although it is a collimated source capable of focusing the light on a very small point and, for most cases, all those optical powers greater than 1 mW can be Dangerous.
  • the last type of light source (21) that can be used is an infrared LED, although due to the scope it presents, the drawback is that the user is not able to perceive it and could cause eye damage.
  • the contrast surface (22) is of a color - for example, black - and dimensions that allow distinguishing between the light marker (20) and any external light source.
  • the contrast screen or surface (22) allows you to apply the method proposed here in environments with little or a lot of light, and at great distances.
  • the shape of the contrast surface (22) can be any, for example, square as in Figure 2.
  • the dimensions of the contrast surface (22) depend on the surrounding light conditions (1 1), the luminous flux of The light source (21) and the maximum distance between the objective (10) and the light markers (20).
  • the template or contrast surface (22) is located on the outside of the light source (21), specifically at the rear, the light source (21) being left in view of the user. In the case that the environment or the background behind the light source (21) is dark enough, it is not necessary to add the contrast surface (22).
  • the system supports the use of other types of luminous markers (20), such as white printed markers with a black border, although these cannot be used in any type of environment.
  • Figure 3 shows a possible system application scenario, in which the distribution of the markers (20).
  • the markers (20) can be located at different distances from each other, which the system must know in advance.
  • the height between each luminous marker (20) and the ground is not preset, but it is recommended that it be that which allows direct vision between the stereo camera (12) and the igloo light sources. : , fLa, fL & ..,. ; fLm ⁇ of the luminous markers (20).
  • the markers (20) are placed on vertical supports to achieve the necessary height.
  • the luminous markers (20) can also be placed on vertical supports or subjects on the surrounding walls or objects.
  • the scenario where the method is applied does not present any predefined characteristics with respect to distribution, plant, obstacles, so that the system adapts to it.
  • the type of environment as explained above, can be indoor or outdoor.
  • the only restriction is that having the maximum dimensions of the environment, being limited by ei reach the light sources (fL;, fL 2 fL3 ⁇ 4 FLM) chosen.
  • Said scope is measured in function of 3a intensity and luminous flux of the light sources (fLi, fL 2l fL R hinder) and of the sensitivity of the image sensor of the stereo camera (12).
  • this system allows ioealizar in the image specific reference points by means of an algorithm of detection of luminous markers (20), as eS described below.
  • the method to be described is not unique, other variants can be used, returning as output parameters the image coordinates (u.v) and the diameter of the luminous markers (20) detected.
  • the detection of light markers (20) is divided into the following steps:
  • Image conversion to grayscale to significantly reduce the size of the image, as this goes from having three channels, red, green and blue, to only one black and white. That is, each pixel in the image reduces its value from 3 bytes to 1 byte.
  • Noise removal filtering to eliminate erroneous pixels and noise from images captured by cameras.
  • the type of filter depends on how clear the images are desired and the delay time that can be introduced into the system.
  • the position of the target user (10) depends on the turns and the type of movements that perform - vertical: up or down, horizontal: left or right-; or if it does not make any movement.
  • the method returns the same user coordinates as in the previous moment (x réelle-i, y-,); otherwise, the position is calculated with all the information, a) -c), mentioned above. In this way, redundant and unnecessary operations are avoided.
  • the marker detection algorithm is applied. By knowing the values of the radii of the markers detected in the current instant, r (n) and those of the previous instant r (n ⁇ 1), the type of displacement of! target user (10):
  • the type of movement performed by the objective (10) can be located in the environment (1 1) according to the following methods, which depend on the type of movement and the number m of markers (20) detected.
  • Figures A-48 show the case in which it has been determined that there is a vertical movement of the lens (10) and when only a single marker (20) is detected in the binocular image (40) captured by the stereo camera (12),
  • a triangulation algorithm cannot be used, because the pixels cannot be related to a real distance; Therefore, the stereo vision technique must be used and the following parameters are needed:
  • binocular disparity ⁇ 'disparity , ai ⁇ English stereo vision given by the UL and U coordinates, rectified and distortion respectively marker dei (2Q) obtained from the two image components, left (41) and right (42), captured by the stereo camera ⁇ 12);
  • the project geometry is calculated at the present time n according to the equation: baseline x focaljenght
  • Figures 5A-5B show the case in which it has been determined that there is a vertical movement of the lens (10) and two or more markers (20, 20 ' , 20 ") are detected in the image (50) captured by the stereo camera ⁇ 12)
  • triangulation can be applied, since more than one marker is available, of the actual distance (d / m) between markers (2C S 20 ', 20 "), of the angle of rotation ( ⁇ ), the aperture angle (2 ⁇ p) of the camera (12) and the number of pixels (AxB) of the image (50).
  • the meters traveled are calculated as the difference between the two, From that value and the user's previous position, coordinates of the target (10) in the previous moment ⁇ x ? . ? , andtown.i), its new coordinates ⁇ n , and n ) can be calculated at the current moment:
  • stereo vision can also be used to obtain depth at the markers. But it is necessary to apply stereo correspondences, that is, to relate the markers of the left image with their equivalents of the right image. Once the correspondences have been obtained, projective geometry can be applied, as in the case of a single marker to obtain the real distance to each marker.
  • Figures 6A-6B show the case in which it has been determined that there is a horizontal movement of the target (10).
  • Figure 6A refers to the case in which only a single marker (20) is detected in the image (61, 62).
  • An algorithm that can be reminded of stereo geometry is applied, but in this case two images of the same are not used moment taken from two different angles, but two images of contiguous instants and the same perspective will be used: the image captured at the current moment (61) and the one captured at an immediately previous instant 62). Also, there are the horizontal coordinates of the marker in e! current moment (uwel) and those obtained from the previous frarne ( ⁇ , - ,.
  • Figure 6B refers to the case in which more than one marker (20, 20 ' . 20 ") is detected in the image.
  • a technique similar to that of triangulation explained in the case of a vertical user movement with a plurality is used. of detected markers, but in this case two images ⁇ 83, 84) captured by the same image sensor are used consecutively in time, having the current image (63) and the image captured in the previous instant (64). Knowing the real distance between markers and the pixels between them, px pies in the current moment and pqxies in the previous instant n-1, it can be extrapolated to the length that has been moved by the user.
  • the previous case of a single marker detected can also be applied to obtain the displacement (D) performed by the target user (10).
  • Fs from the coordinates of the same marker in two contiguous images, disregarding the rest of the markers detected, and with the previous distance between the marker and the user, calculate the displacement D.

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  • Engineering & Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

L'invention concerne un procédé et un système de localisation spatiale d'un objectif (19) dans un environnement (11) tridimensionnel qui comprend au moins un marqueur lumineux comprenant: -un caméscope stéréo (12) pour capturer une première trame d'image à un instant présent et une seconde trame d'image à un instant antérieur; - un dispositif de mesure d'angles (13) pour obtenir un angle de rotation de l'objectif (10); - un processeur de signaux (14) avec accès à une mémoire (15) qui stocke entre autres, un rayon d'au moins un marqueur détecté à un instant présent n et à un instant antérieur n-1 conçu pour calculer des coordonnées (x1, y1) de l'objectif (10) à un instant i comme ceci: - si l'angle de rotation à l'instant présent et celui à l'instant antérieur sont différents, (Xn, Yn )=(Xn-1, Yn-1 ); - si les trames d'image sont égales, (Xn, Yn )=(Xn-1, Yn-1 ); - sinon: -si les rayons sont égaux et qu'il y a plusieurs marqueurs, (Xn, Yn ) se calculent par triangulation au moyen des deux trames d'image; - si les rayons sont différents et qu'il y a plusieurs marqueurs, (Xn, Yn ) se calculent par triangulation au moyen d'une seule trame d'image; - si les rayons sont différents et qu'il y a un seul marqueur, (Xn, Yn ) se calculent par géométrique stéréo; - si les rayons sont égaux et qu'il y a un seul marqueur, (Xn, Yn ) se calculent au moyen des coordonnées de l'image du marqueur à l'instant présent et à l'instant antérieur.
PCT/ES2015/000182 2014-12-23 2015-12-16 Procédé et système de localisation spatiale au moyen de marqueurs lumineux pour tout type d'environnement Ceased WO2016102721A1 (fr)

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ES201500011A ES2543038B2 (es) 2014-12-23 2014-12-23 Método y sistema de localización espacial mediante marcadores luminosos para cualquier ambiente
ESP201500011 2014-12-23

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WO2020089675A1 (fr) 2018-10-30 2020-05-07 Общество С Ограниченной Ответственностью "Альт" Procédé et système de poursuite optique inverse d'un objet en mouvement

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WO2020089675A1 (fr) 2018-10-30 2020-05-07 Общество С Ограниченной Ответственностью "Альт" Procédé et système de poursuite optique inverse d'un objet en mouvement

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