US 12,080,027 B2
Article position managing apparatus, article position management system, article position managing method, and program
Takahiro Hasegawa, Tokyo (JP); Masahito Iwai, Tokyo (JP); Kenichi Abe, Tokyo (JP); Tetsuya Ito, Tokyo (JP); and Chikashi Ito, Tokyo (JP)
Assigned to NEC Communication Systems, LTD., Tokyo (JP)
Appl. No. 17/414,590
Filed by NEC COMMUNICATION SYSTEMS, LTD., Tokyo (JP)
PCT Filed Dec. 26, 2019, PCT No. PCT/JP2019/051259
§ 371(c)(1), (2) Date Jun. 16, 2021,
PCT Pub. No. WO2020/138345, PCT Pub. Date Jul. 2, 2020.
Claims priority of application No. 2018-244356 (JP), filed on Dec. 27, 2018.
Prior Publication US 2022/0058826 A1, Feb. 24, 2022
Int. Cl. G06T 7/73 (2017.01); G06V 20/56 (2022.01)
CPC G06T 7/74 (2017.01) [G06V 20/56 (2022.01); G06T 2207/30204 (2013.01); G06T 2207/30244 (2013.01)] 19 Claims
OG exemplary drawing
 
19. An article position management apparatus, comprising:
a processor;
a memory storing program instructions executable by the processor; and
a receiver that receives image data from a camera apparatus,
wherein the processor is configured to:
identify a position of an article, based on an article marker attached to the article and a reference point marker whose coordinate information in an absolute coordinate system in a field is set in advance, the article marker and the reference point marker being included in the image data, when the camera apparatus is a mobile camera apparatus; and
identify the position of the article, based on the article marker included in the image data, when the camera apparatus is a fixed camera apparatus,
when the camera apparatus is the mobile camera apparatus, calculate a relative position of the reference point marker to the mobile camera apparatus at a time when the image data is captured, and a relative position of the article marker to the mobile camera apparatus at the time when the image data is captured; and
identify the position of the article using at least coordinate information of the reference point marker, the relative position of the reference point marker and the relative position of the article marker, wherein an orientation of a camera installed in the mobile camera apparatus is configured to be variable,
wherein the receiver receives first and second image data from the mobile camera apparatus whose orientation of the camera is configured to be variable,
calculate the relative position of the reference point marker to the mobile camera apparatus at a time when the first image data is captured, based on the reference point marker included in the first image data captured by the camera at a first orientation; and
calculate the relative position of the article marker to the mobile camera apparatus at a time the second image data is captured, based on the article marker included in the second image data captured by the camera at a second orientation; and
identify the position of the article using the relative position of the reference point marker, the relative position of the article marker, and a difference in orientations between the first and second orientations of the camera.