JP2025055846A - Detection method and computer - Google Patents

Abstract

To provide a new detection method and a computer, for position detection from an image in the three-dimensional coordinate or the like of a predetermined position in an object.SOLUTION: The detection method includes a step for aligning the predetermined position A of an object 10 with the reference point O of an alignment member 7 in which an alignment marker 71 is arranged, a step for imaging the alignment marker 71 and a first marker 11, a step for acquiring the information of the relative three-dimensional coordinate of the predetermined position A of the object 10 with respect to the position of the first marker 11 attached to the object 10 on the basis of the captured image, and a step for imaging a second marker 14 attached to a member 13 different from the object 10 and the first marker 11 of the object 10, to detect the relative three-dimensional coordinate of the predetermined position A of the object 10 with respect to the different member 13 from the image including the captured first marker 11 and second marker 14 on the basis of the acquired three-dimensional coordinate.SELECTED DRAWING: Figure 1

Description

The present invention relates to a detection method and a computer.

Conventionally, there is known a technique for measuring the position and orientation of an object from an image of a marker attached to the object by capturing an image of the marker with a camera. For example, Patent Document 1 discloses a marker that can be attached to an object. A typical marker is a planar pattern that can be attached to an object. A typical marker includes a square black frame and a two-dimensional pattern code printed inside it. Then, by capturing an image of the marker with a camera, the relative position and orientation of the marker and the camera can be recognized, and the position and orientation of the object to which the marker is attached can be recognized. The camera can also read information recorded in the marker.

JP 2012-145559 A

There is a demand for technology that can detect the three-dimensional coordinates of a specific position on an object to which a marker is attached that is difficult to image using a camera, and a three-dimensional direction vector in a specific direction related to this specific position, from an image of the marker, but such technology has not been known until now.

The present disclosure has been made in consideration of these points, and aims to provide a new detection method and computer that detects the three-dimensional coordinates of a specific position on an object to which a marker is attached, and a three-dimensional directional vector in a specific direction related to this specific position, from an image of the marker.

The detection method of the present disclosure includes:
1. A method for detecting a predetermined position of an object having a first marker attached thereto, comprising:
aligning the predetermined position of the object with a predetermined reference point of an alignment member on which an alignment marker is arranged;
capturing an image of the alignment marker and the first marker disposed on the alignment member;
acquiring information on three-dimensional coordinates of the predetermined position of the object relative to a position of the first marker attached to the object based on an image including the alignment marker and the first marker that has been captured;
and detecting, based on the obtained three-dimensional coordinates, from an image including the captured first marker and the captured second marker, the relative three-dimensional coordinates of the predetermined position of the object relative to the other member.

The detection method of the present disclosure includes:
1. A method for detecting a direction of an object having a first marker attached thereto to a predetermined position, comprising:
aligning the predetermined position of the object with a predetermined reference point of an alignment member on which an alignment marker is arranged;
capturing an image of the alignment marker and the first marker disposed on the alignment member;
acquiring information on a relative three-dimensional direction vector of the predetermined position of the object with respect to the first marker attached to the object based on an image including the captured alignment marker and the first marker;
detecting a relative three-dimensional direction vector of a direction from the first marker to the predetermined position with respect to the other member from an image including the captured first marker and the second marker based on the acquired three-dimensional direction vector by capturing an image of the first marker and the second marker attached to a member other than the object;
Equipped with.

The detection method of the present disclosure includes:
1. A method for detecting a predetermined position and a direction to the predetermined position of an object having a first marker attached thereto, comprising:
aligning the predetermined position of the object with a predetermined reference point of an alignment member on which an alignment marker is arranged;
capturing an image of the alignment marker and the first marker disposed on the alignment member;
acquiring information on three-dimensional coordinates of the predetermined position of the object relative to a position of the first marker attached to the object, based on an image including the captured alignment marker and the first marker, and acquiring information on a three-dimensional direction vector of the object relative to the first marker;
a step of capturing an image of a second marker attached to a member other than the object and the first marker of the object, and detecting, based on the acquired three-dimensional coordinates and the three-dimensional direction vector, from an image including the captured first marker and the second marker, a relative three-dimensional coordinate of the predetermined position of the object with respect to the other member and a relative three-dimensional direction vector of a direction from the first marker to the predetermined position with respect to the other member;
Equipped with.

In the detection method of the present disclosure,
The alignment member may have a flat surface, on which a predetermined reference point is formed and on which the alignment marker is disposed.

The detection method of the present disclosure includes:
1. A method for detecting a predetermined position of an object having a first marker attached thereto, comprising:
A step of placing an alignment marker at a predetermined reference point of the alignment member and capturing an image of the alignment marker by an imaging device having a fixed position;
aligning the predetermined position of the object with the predetermined reference point of the alignment member, and capturing an image of the first marker by the imaging device;
acquiring information on three-dimensional coordinates of the predetermined position of the object relative to a position of the first marker attached to the object, based on an image including the alignment marker and an image including the first marker;
a step of capturing an image of a second marker attached to a member other than the object and the first marker of the object, and detecting, based on the acquired three-dimensional coordinates, from an image including the captured first marker and the captured second marker, a relative three-dimensional coordinate of the predetermined position of the object with respect to the separate member;
Equipped with.

The detection method of the present disclosure includes:
1. A method for detecting a direction of an object having a first marker attached thereto to a predetermined position, comprising:
A step of placing an alignment marker at a predetermined reference point of the alignment member and capturing an image of the alignment marker by an imaging device having a fixed position;
aligning the predetermined position of the object with the predetermined reference point of the alignment member, and capturing an image of the first marker by the imaging device;
acquiring information on a relative three-dimensional direction vector of the predetermined position of the object with respect to the first marker attached to the object based on an image including the alignment marker and an image including the first marker;
detecting a relative three-dimensional direction vector of a direction from the first marker to the predetermined position with respect to the other member from an image including the captured first marker and the second marker based on the acquired three-dimensional direction vector by capturing an image of the first marker and the second marker attached to a member other than the object;
Equipped with.

The detection method of the present disclosure includes:
1. A method for detecting a predetermined position and a direction to the predetermined position of an object having a first marker attached thereto, comprising:
A step of placing an alignment marker at a predetermined reference point of the alignment member and capturing an image of the alignment marker by an imaging device having a fixed position;
aligning the predetermined position of the object with the predetermined reference point of the alignment member, and capturing an image of the first marker by the imaging device;
acquiring information on three-dimensional coordinates of the predetermined position of the object relative to a position of the first marker attached to the object and information on a three-dimensional direction vector of the predetermined position of the object relative to the first marker, based on an image including the captured alignment marker and an image including the captured first marker;
a step of capturing an image of a second marker attached to a member other than the object and the first marker of the object, and detecting, based on the acquired three-dimensional coordinates and the three-dimensional direction vector, from an image including the captured first marker and the second marker, a relative three-dimensional coordinate of the predetermined position of the object with respect to the other member and a relative three-dimensional direction vector of a direction from the first marker to the predetermined position with respect to the other member;
Equipped with.

In the detection method of the present disclosure,
A recess may be formed at the reference point of the alignment member, and the predetermined position of the object may be aligned with the reference point by inserting a portion of the object at the predetermined position into the recess.

The detection method of the present disclosure includes:
placing an alignment marker at a predetermined position of the object to which the first marker is attached, and capturing an image of the first marker and the alignment marker;
acquiring information on three-dimensional coordinates of the predetermined position of the object relative to a position of the first marker attached to the object based on an image including the alignment marker and the first marker that has been captured;
a step of capturing an image of a second marker attached to a member other than the object and the first marker of the object, and detecting, based on the acquired three-dimensional coordinates, from an image including the captured first marker and the captured second marker, a relative three-dimensional coordinate of the predetermined position of the object with respect to the separate member;
Equipped with.

The detection method of the present disclosure includes:
placing an alignment marker at a predetermined position of the object to which the first marker is attached, and capturing an image of the first marker and the alignment marker;
acquiring information on a three-dimensional direction vector in a predetermined direction extending from the predetermined position perpendicularly to the first marker based on an image including the alignment marker and the first marker that has been captured;
a step of capturing an image of a second marker attached to a member other than the object and the first marker of the object, and detecting a relative three-dimensional direction vector of the predetermined direction with respect to the other member from an image including the captured first marker and the captured second marker based on the acquired three-dimensional direction vector;
Equipped with.

The detection method of the present disclosure includes:
placing an alignment marker at a predetermined position of the object to which the first marker is attached, and capturing an image of the first marker and the alignment marker;
acquiring information on three-dimensional coordinates of the predetermined position of the object relative to a position of the first marker attached to the object based on an image including the captured alignment marker and the first marker, and information on a three-dimensional direction vector in a predetermined direction extending from the predetermined position perpendicular to the first marker;
a step of capturing an image of a second marker attached to a member other than the object and the first marker of the object, and detecting, based on the acquired three-dimensional coordinates and three-dimensional direction vector, from an image including the captured first marker and the captured second marker, a relative three-dimensional coordinate of the predetermined position of the object with respect to the other member and a relative three-dimensional direction vector of the predetermined direction with respect to the other member;
Equipped with.

The detection method of the present disclosure includes:
placing a first alignment marker at a first predetermined position of a first object to which a first marker is attached, and capturing an image of the first marker and the first alignment marker;
acquiring information on three-dimensional coordinates of the first predetermined position of the first object relative to a position of the first marker attached to the first object based on an image including the captured first alignment marker and the first marker, and information on a three-dimensional direction vector in a first predetermined direction extending from the first predetermined position perpendicularly to the first alignment marker;
placing a second alignment marker at a second predetermined position of a second object to which the second marker is attached, and capturing an image of the second marker and the second alignment marker;
acquiring information on three-dimensional coordinates of the second predetermined position of the second object relative to the position of the second marker attached to the second object based on an image including the captured second alignment marker and the second marker, and information on a three-dimensional direction vector of a second predetermined direction extending from the second predetermined position perpendicular to the second alignment marker;
capturing an image of the first marker of the first object and the second marker of the second object, and detecting, from an image including the captured first marker and the second marker, a relative three-dimensional coordinate of the first predetermined position of the first object with respect to the second predetermined position of the second object and a relative three-dimensional direction vector of the first predetermined direction of the first object with respect to the second predetermined direction of the second object;
Equipped with.

The detection method of the present disclosure includes:
1. A method for detecting a predetermined position of an object having a first marker attached thereto, comprising:
acquiring information on three-dimensional coordinates of the predetermined position of the object relative to a position of the first marker attached to the object;
a step of capturing an image of a second marker attached to a member other than the object and the first marker of the object, and detecting, based on the acquired three-dimensional coordinates, from an image including the captured first marker and the captured second marker, a relative three-dimensional coordinate of the predetermined position of the object with respect to the separate member;
Equipped with.

The detection method of the present disclosure includes:
1. A method for detecting a direction of an object having a first marker attached thereto to a predetermined position, comprising:
acquiring information on a relative three-dimensional direction vector of the predetermined position of the object with respect to the first marker attached to the object;
detecting a relative three-dimensional direction vector of a direction from the first marker to the predetermined position with respect to the other member from an image including the captured first marker and the second marker based on the acquired three-dimensional direction vector by capturing an image of the first marker and the second marker attached to a member other than the object;
Equipped with.

The detection method of the present disclosure includes:
1. A method for detecting a predetermined position and a direction to the predetermined position of an object having a first marker attached thereto, comprising:
acquiring information on three-dimensional coordinates of the predetermined position of the object relative to a position of the first marker attached to the object, and acquiring information on a three-dimensional direction vector of the object relative to the first marker;
a step of capturing an image of a second marker attached to a member other than the object and the first marker of the object, and detecting, based on the acquired three-dimensional coordinates and the three-dimensional direction vector, from an image including the captured first marker and the second marker, a relative three-dimensional coordinate of the predetermined position of the object with respect to the other member and a relative three-dimensional direction vector of a direction from the first marker to the predetermined position with respect to the other member;
Equipped with.

The computer of the present disclosure includes:
The control unit executes the program,
receiving an image of the alignment marker and the first marker when a predetermined position of the object to which the first marker is attached is aligned with a predetermined reference point of an alignment member on which the alignment marker is arranged;
acquiring information on three-dimensional coordinates of the predetermined position of the object relative to a position of the first marker attached to the object, based on the received image including the alignment marker and the first marker;
Based on the acquired three-dimensional coordinates, the relative three-dimensional coordinates of the specified position of the object with respect to the other member are detected from an image including a second marker attached to a member other than the object and the first marker of the object.

The computer of the present disclosure includes:
The control unit executes the program,
receiving an image of the alignment marker and the first marker when a predetermined position of the object to which the first marker is attached is aligned with a predetermined reference point of an alignment member on which the alignment marker is arranged;
acquiring information on a three-dimensional direction vector of the predetermined position of the object relative to the first marker attached to the object, based on an image including the alignment marker and the first marker that has been received;
Based on the acquired three-dimensional coordinates, the relative three-dimensional coordinates of the specified position of the object with respect to the other member are detected from an image including a second marker attached to a member other than the object and the first marker of the object.

The computer of the present disclosure includes:
The control unit executes the program,
receiving an image of the alignment marker and the first marker when a predetermined position of the object to which the first marker is attached is aligned with a predetermined reference point of an alignment member on which the alignment marker is arranged;
acquiring information on three-dimensional coordinates of the predetermined position of the object relative to a position of the first marker attached to the object, based on an image including the received alignment marker and the first marker, and acquiring information on a three-dimensional direction vector of the object relative to the first marker;
Based on the acquired three-dimensional coordinates and three-dimensional direction vector, the relative three-dimensional coordinates of the specified position of the object relative to the other member and the relative three-dimensional direction vector of the direction from the first marker to the specified position relative to the other member are detected from an image including the first marker and the second marker.

The computer of the present disclosure includes:
The control unit executes the program,
receiving an image of an alignment marker captured by an imaging device that is fixed in position and that is disposed at a predetermined reference point of the alignment member;
receiving an image of a first marker attached to the object captured by the imaging device when a predetermined position of the object is aligned with the predetermined reference point of the alignment member;
acquiring information on three-dimensional coordinates of the predetermined position of the object relative to a position of the first marker attached to the object, based on the received image including the alignment marker and the received image including the first marker;
Based on the acquired three-dimensional coordinates, the relative three-dimensional coordinates of the specified position of the object with respect to the other member are detected from an image including a second marker attached to a member other than the object and the first marker of the object.

The computer of the present disclosure includes:
The control unit executes the program,
receiving an image of an alignment marker captured by an imaging device that is fixed in position and that is disposed at a predetermined reference point of the alignment member;
receiving an image of a first marker attached to the object captured by the imaging device when a predetermined position of the object is aligned with the predetermined reference point of the alignment member;
acquiring information on a relative three-dimensional direction vector of the predetermined position of the object with respect to the first marker attached to the object, based on the received image including the alignment marker and the received image including the first marker;
Based on the acquired three-dimensional direction vector, a relative three-dimensional direction vector of the direction from the first marker to the specified position with respect to a second marker attached to a member other than the object is detected from an image including the first marker attached to the object and a second marker attached to the other member.

The computer of the present disclosure includes:
The control unit executes the program,
receiving an image of an alignment marker captured by an imaging device that is fixed in position and that is disposed at a predetermined reference point of the alignment member;
receiving an image of a first marker attached to the object captured by the imaging device when a predetermined position of the object is aligned with the predetermined reference point of the alignment member;
acquiring information on three-dimensional coordinates of the predetermined position of the object relative to a position of the first marker attached to the object and information on a three-dimensional direction vector of the predetermined position of the object relative to the first marker, based on the received image including the alignment marker and the received image including the first marker;
Based on the acquired three-dimensional coordinates and three-dimensional direction vector, from an image including a second marker attached to a member other than the object and the first marker attached to the object, the relative three-dimensional coordinates of the specified position of the object with respect to the other member and the relative three-dimensional direction vector of the direction from the first marker to the specified position with respect to the other member are detected.

The computer of the present disclosure includes:
The control unit executes the program,
receiving an image of a first marker and the alignment marker attached to the object when the alignment marker is placed at a predetermined position on the object;
acquiring information on three-dimensional coordinates of the predetermined position of the object relative to a position of the first marker attached to the object, based on the received image including the alignment marker and the first marker;
Based on the acquired three-dimensional coordinates, the relative three-dimensional coordinates of the specified position of the object with respect to the other member are detected from an image including a second marker attached to a member other than the object and the first marker of the object.

The computer of the present disclosure includes:
The control unit executes the program,
receiving an image of a first marker and the alignment marker attached to the object when the alignment marker is placed at a predetermined position on the object;
acquiring information on a three-dimensional direction vector in a predetermined direction extending from the predetermined position perpendicularly to the first marker based on the received image including the alignment marker and the first marker;
Based on the acquired three-dimensional direction vector, a relative three-dimensional direction vector in the specified direction with respect to the other member is detected from an image including a second marker attached to a member other than the object and the first marker of the object.

The computer of the present disclosure includes:
The control unit executes the program,
receiving an image of a first marker and the alignment marker attached to the object when the alignment marker is placed at a predetermined position on the object;
acquiring information on three-dimensional coordinates of the predetermined position of the object relative to a position of the first marker attached to the object, and information on a three-dimensional direction vector of a predetermined direction extending perpendicularly from the predetermined position to the first marker, based on an image including the received alignment marker and the first marker;
Based on the acquired three-dimensional coordinates and three-dimensional direction vector, from an image including a second marker attached to a member other than the object and the first marker of the object, the relative three-dimensional coordinates of the specified position of the object with respect to the other member and the relative three-dimensional direction vector of the specified direction with respect to the other member are detected.

The computer of the present disclosure includes:
The control unit executes the program,
receiving an image of the first alignment marker attached to the first object when the first alignment marker is placed at a first predetermined position on the first object;
acquiring information on relative three-dimensional coordinates of the first predetermined position of the first object attached to the first object and information on a three-dimensional direction vector of a first predetermined direction extending perpendicularly from the first predetermined position to the first alignment marker, based on the received image including the first alignment marker;
receiving an image of the second alignment marker attached to the second object when the second alignment marker is disposed at a second predetermined position on the second object;
acquiring information on relative three-dimensional coordinates of the second predetermined position of the second object attached to the second object and information on a three-dimensional direction vector of a second predetermined direction extending perpendicularly from the second predetermined position to the second alignment marker, based on the received image including the second alignment marker;
When an image including the first alignment marker of the first object and the second alignment marker of the second object is received, the relative three-dimensional coordinates of the first predetermined position of the first object relative to the second predetermined position of the second object and the relative three-dimensional direction vector of the first predetermined direction of the first object relative to the second predetermined direction of the second object are detected from the received image including the first alignment marker and the second alignment marker.

The computer of the present disclosure includes:
The control unit executes the program,
acquiring information on three-dimensional coordinates of a predetermined position of the object relative to a position of a first marker attached to the object;
Based on the acquired three-dimensional coordinates, the relative three-dimensional coordinates of the specified position of the object with respect to the other member are detected from an image including a second marker attached to a member other than the object and the first marker of the object.

The computer of the present disclosure includes:
The control unit executes the program,
acquiring information on a three-dimensional direction vector of a predetermined position of the object relative to a first marker attached to the object;
Based on the acquired three-dimensional coordinates, the relative three-dimensional coordinates of the specified position of the object with respect to the other member are detected from an image including a second marker attached to a member other than the object and the first marker of the object.

The computer of the present disclosure includes:
The control unit executes the program,
acquiring information on three-dimensional coordinates of a predetermined position of the object relative to a position of a first marker attached to the object, and acquiring information on a three-dimensional direction vector of the object relative to the first marker;
Based on the acquired three-dimensional coordinates and three-dimensional direction vector, the relative three-dimensional coordinates of the specified position of the object relative to the other member and the relative three-dimensional direction vector of the direction from the first marker to the specified position relative to the other member are detected from an image including the first marker and the second marker.

The detection method and computer disclosed herein can provide a new detection method and computer that detects, from an image of a marker, the three-dimensional coordinates of a specific position on an object to which a marker is attached and a three-dimensional directional vector in a specific direction related to this specific position.

1 is a schematic diagram illustrating a configuration of a position detection system according to an embodiment of the present disclosure. FIG. 1 is a schematic diagram illustrating a method for calibrating a position sensing system according to an embodiment of the present disclosure. FIG. 1 is a schematic diagram showing one mode of use of a position detection system according to an embodiment of the present disclosure, for detecting a part that cannot be seen from the outside, such as inside a body of a human body. 1 is a flowchart showing a flow of a calibration process in a position detection system according to an embodiment of the present disclosure. 1 is a flowchart showing a flow of a detection process in a position detection system according to an embodiment of the present disclosure. FIG. 13 is a schematic diagram illustrating a modified example of the position detection system according to the embodiment of the present disclosure, in which an alignment marker is disposed at a predetermined position on an object. FIG. 13 is a schematic diagram illustrating a configuration of a position detection system according to a modified example of the present disclosure when there are multiple targets. FIG. 1 is a schematic diagram illustrating an example of a usage form of a position detection system according to an embodiment of the present disclosure. FIG. 1 is a schematic diagram illustrating an example of a usage form of a position detection system according to an embodiment of the present disclosure. FIG. 1 is a schematic diagram showing an example of a usage form of a position detection system according to an embodiment of the present disclosure, illustrating a form in which rendering is performed in a three-dimensional space. FIG. 1 is a schematic diagram showing an example of a usage form of a position detection system according to an embodiment of the present disclosure, in which an object is used as a laser pointer.

Below, an embodiment of the present disclosure will be described with reference to the drawings. Figs. 1 to 5 are diagrams showing a part of a position detection system according to an embodiment of the present disclosure. Of these, Fig. 1 is a schematic diagram showing the configuration of a position detection system according to this embodiment, and Fig. 2 is a schematic diagram showing a method of calibrating the position detection system according to this embodiment. Fig. 3 is a schematic diagram showing one mode of use of the position detection system according to this embodiment, which is a schematic diagram of detecting a part that cannot be seen from the outside, such as inside a body. Fig. 4 is a flowchart showing the flow of a calibration process in the position detection system according to this embodiment. Fig. 5 is a flowchart showing the flow of a detection process in the position detection system according to this embodiment.

- Position detection system 1 -
FIG. 1 is a block diagram showing the configuration of a position detection system 1 according to this embodiment. The position detection system 1 according to this embodiment includes a computer 2 and an imaging device 3. As shown in FIG. 2 and FIG. 3, the imaging device 3 is used for positioning an object (target object 10) to be detected, and captures an alignment marker 71 attached to an alignment member 7, a first marker 11 attached to an object having a predetermined length, and a second marker 14 attached to another member 13 (e.g., a human body). In addition, the position detection system 1 acquires at least one of information on the relative three-dimensional coordinates of the first marker 11 with respect to the alignment marker 71 and information on a three-dimensional direction vector based on an image including the captured first marker 11 and alignment marker 71, and measures the three-dimensional coordinates and three-dimensional direction vector of a predetermined position (point A) with respect to the first marker 11. In addition, for example, the computer 2 is connected to the imaging device 3 so as to be able to communicate with each other. In addition, the imaging device 3 and the computer 2 may be connected to each other so as to be able to communicate with each other via a communication network such as an Internet line. Each component of the position detection system 1 will be described below.

The alignment member 7 is a member used for calibration to define a predetermined position (A) of the object 10. The alignment member 7 is treated as a plate-like member or a virtual plane, and an alignment marker 71 is placed on the alignment member 7. Here, the predetermined position (A) means a specific location on the object 10, and in the case of a rod-shaped member, it may be the tip of the rod-shaped member, for example. In this disclosure, the tip of a member having a longitudinal axis will be described as an example.

The alignment marker 71 is an AR marker that is placed on the alignment member 7 and is used for calibration together with the first marker 11. The alignment marker 71 is placed in a location on the virtual plane that does not overlap with a location defined as the origin (O).

The first marker 11 is an AR marker that is attached to an object (target object 10) having a predetermined length and is used to grasp the positional relationship of a predetermined position (A) of the target object 10. The size of the first marker 11 is such that it does not overlap with the alignment marker 71 when performing calibration.

The above function is achieved by capturing images of the alignment marker 71 and the first marker 11 using the imaging device 3.

<Configuration of Computer 2>
The computer 2 can be used through a communication network such as the Internet. The computer 2 has a control unit 4, a storage unit 5, and a communication unit 6. The control unit 4 is composed of a microcomputer including a CPU and a semiconductor memory, and controls the operation of the computer 2. More specifically, the control unit 4 executes a program stored in the storage unit 5, thereby functioning as a receiving unit 41, a calculating unit 42, and a detecting unit 43.

The reception means 41 receives images captured by the imaging device 3. For example, the reception means 41 receives image data of the alignment marker 71, the first marker 11, and the second marker 14 captured by the imaging device 3.

The calculation means 42 acquires information on the relative three-dimensional coordinates of the predetermined position (A) of the object 10 with respect to the attachment position of the first marker 11 attached to the object 10 based on image data including at least the alignment marker 71 and the first marker 11. First, the calculation means 42 obtains a homogeneous transformation matrix c H m1 from the image data captured by the imaging device 3 based on matrices at the respective positions of the imaging device 3 (point C) and the alignment marker 71 ( _m1 ). Also, the calculation means 42 obtains a homogeneous transformation matrix _{O H m1} ^-1 based on the respective positions of the alignment marker 71 (m1) and the origin (O). At this time, the predetermined position (A) of the object 10 in the m2 coordinate system coincides with the origin (O). Then, based on the obtained _c H _m1 and _O H _m1 ^-1 , the calculation means 42 obtains _c H _O ( _c H _m1O H _m1 ^-1 ). Note that the homogeneous transformation matrix is used to efficiently calculate coordinate transformation and rigid body transformation by matrix calculation, and is expressed by the following equation in three-dimensional space.

（式１中、ｒは回転行列を表し、ｔは並進ベクトルを表す。）

(In formula 1, r represents a rotation matrix, and t represents a translation vector.)

The calculation means 42 also calculates a homogeneous transformation matrix _c H _m2 ^-1 based on the matrices at the respective positions of the imaging device 3 (point C) and the first marker 11 (point m2). The calculation means 42 then calculates _m2 H _O ( _c H _m2 ^-1 _c H _O ) based on the calculated _c H _O and _c H _m2 ^-1 . In this state, since the inclinations of the first marker 11 (point m2) and the origin (O) are reflected, for example, if the rotation matrix (R) is made non-rotating and the resulting translation vectors are tx, ty, tz, the following equation is obtained.

In this way, calibration is performed with the predetermined position (A) of the object 10 aligned with the predetermined reference point (origin (O)) of the alignment member 7.

The calculation means 42 also calculates the homogeneous transformation matrix _cHm2 calculated based on the matrices at the respective positions of the imaging device ₃ ( _{point C) and the first marker 11 (m2), and calculates cHA (cHm2m2HA ) based on m2HA .} In this manner, the calculation means 42 sets the predetermined position ( _A ) of the object 10 in a coordinate system centered on m2, calculates the homogeneous transformation matrix including the rotation matrix, and extracts the translation (position) component, thereby calculating the predetermined position (A) of the object 10 in the m2 coordinate system.

The detection means 43 captures an image of the second marker 14 attached to a member 13 separate from the object 10 and the first marker 11 of the object 10, and detects at least one of the relative three-dimensional coordinates and three-dimensional direction vector of a predetermined position (A) of the object 10 with respect to the separate member 13 from an image including the captured first marker 11 and second marker 14 based on at least one of the acquired three-dimensional coordinates and three-dimensional direction vector.

The separate member 13 is a member to which the second marker 14 is attached, and is an object for which the position of the predetermined position (A) of the object 10 is determined from an image including the first marker 11 and the second marker 14. There are no particular limitations on what can be used as the separate member 13, and for example, when an endoscope is used as the object 10, the patient's body may be used as the separate member 13.

The second marker 14 is an AR marker that is attached to another member 13 and is used in cooperation with the first marker 11 to grasp the positional relationship between a predetermined position (A) of the object 10 and the other member 13.

The programs executed by the control unit 4 are not limited to those stored in the storage unit 5. The programs executed by the control unit 4 may be those transmitted from an external device to the control unit 4 via the communication unit 6, those stored in a storage medium such as a USB memory attached to the computer 2, or those stored in a server other than the computer 2 (e.g., a cloud server).

The storage unit 5 is composed of a hard disk drive (HDD), a random access memory (RAM), a read only memory (ROM), a solid state drive (SSD), etc. The storage unit 5 stores various programs including a program executed by the control unit 4. The storage unit 5 also stores images captured by the imaging device 3. Details of the information stored in the storage unit 5 will be described later.

The communication unit 6 is, for example, a wired LAN (Local Area Network) module, a wireless LAN module, etc., and includes an interface for wired or wireless communication. In other words, the communication unit 6 is composed of a communication interface configured to communicate with other devices via a communication network.

The imaging device 3 is a camera device that is provided in one or more in the position detection system 1. The imaging device 3 is grounded or suspended, and is placed in a position where it can capture images of the alignment marker 71, the first marker 11, the second marker 14, the reference point (origin (O)), and the target object 10, photographing them and acquiring image data.

<Calibration process>
First, the calibration process in this embodiment will be described with reference to the schematic diagram shown in Fig. 2 and the flow chart shown in Fig. 4. Note that the operation of the position detection system 1 described below is performed by the control unit 4 of the computer 2 executing a program stored in the storage unit 5.

First, the user places the alignment marker 71 on the alignment member 7.

Next, the user aligns a predetermined position (A) of the object 10 to which the first marker 11 is attached with the reference point (origin (O)) of the alignment member 7 on which the alignment marker 71 is disposed (step S10). At this time, the imaging device 3 is installed in a position where it can capture an image of the alignment marker 71 and the first marker 11.

Next, the image capturing device 3 captures the alignment marker 71 and the first marker 11 (step S11). As a result, the image information defining the alignment member (virtual plane) 7 registered in the alignment marker 71 and the image information defining the target object 10 registered in the first marker 11, such as the position and positional relationship, are received and understood by the receiving means 41.

Next, the calculation means 42 acquires information on the relative three-dimensional coordinates of the predetermined position (A) of the object 10 with respect to the attachment position of the first marker 11 based on the images of the alignment marker 71 and the first marker 11 received by the reception means 41 (step S12). This allows the predetermined position (A) of the object 10 to be calibrated in a state where it coincides with a predetermined reference point (origin (O)) of the alignment member 7.

<Detection process>
Next, the detection process after calibration in this embodiment will be described with reference to the schematic diagram shown in FIG. 3 and the flowchart shown in FIG.

First, the imaging device 3 captures an image of the second marker 14 attached to the other member 13 and the first marker 11 of the object 10 on a virtual plane defined by the alignment marker 71 (step S13). As a result, the information on the position and arrangement of the image information defining the other member 13 registered in the second marker 14 and the image information defining the object 10 registered in the first marker 11 is received and understood by the receiving means 41.

Next, based on the three-dimensional coordinates acquired in step S12 and the image information captured in step S13 and received by the receiving means 41, the detection means 43 detects the three-dimensional coordinates of the predetermined position (A) of the object 10 relative to the other member 13 (step S14). This makes it possible to detect the relative three-dimensional coordinates of the predetermined position (A) of the object 10 relative to the other member 13 from the captured image including the first marker 11 and second marker 14, enabling continuous position detection.

According to the detection method of the present embodiment configured as described above, when detecting the predetermined position (A) of the object 10 to which the first marker 11 is attached, the detection method of the present disclosure aligns the predetermined position (A) of the object 10 with a predetermined reference point (origin (O)) of the alignment member 7 on which the alignment marker 71 is arranged. Next, an image of the alignment marker 71 and the first marker 11 arranged on the alignment member 7 is captured. Next, based on the captured image including the alignment marker 71 and the first marker 11, information on the relative three-dimensional coordinates of the predetermined position (A) of the object 10 with respect to the position of the first marker 11 attached to the object 10 is obtained. Next, the second marker 14 attached to a member 13 separate from the object 10 and the first marker 11 of the object 10 are imaged, and based on the acquired three-dimensional coordinates, the relative three-dimensional coordinates of a predetermined position (A) of the object 10 relative to the separate member 13 are detected from an image including the imaged first marker 11 and second marker 14.

According to this detection method, even if the predetermined position (A) of the object 10 cannot be visually recognized, the predetermined position (A) of the object 10 relative to another member 13 can be accurately grasped. To explain in more detail, in the past, a technology was desired that detects the three-dimensional coordinates of the predetermined position (A) of the object 10 to which the marker is attached, which is difficult to image by a camera, from an image of the marker. For example, even if an attempt is made to grasp the position of the tip of an endoscope inside the body, it is difficult to visually recognize the tip from the outside, and it is also difficult to accurately grasp where the tip is located inside the body. And a technology that solves such a problem was not known in the past. According to the detection method with the above configuration, the three-dimensional coordinates of the predetermined position (A) of the object 10 to which the marker is attached can be detected from an image of the marker, so that such a problem can be avoided.

In addition, in the detection method of this embodiment, as described above, the alignment member 7 has a flat surface, and a predetermined reference point (origin (O)) may be formed on the flat surface, and an alignment marker 71 may be arranged on the flat surface. In this case, calibration can be performed efficiently.

In addition, in the detection method and computer 2 of the present embodiment, as described above, the computer 2 of the present disclosure receives an image of the alignment marker 71 and the first marker 11 when the predetermined position (A) of the object 10 to which the first marker 11 is attached is aligned with a predetermined reference point (origin (O)) of the alignment member 7 to which the alignment marker 71 is arranged, by the control unit 4 executing a program. Next, based on the received image including the alignment marker 71 and the first marker 11, information on the relative three-dimensional coordinates of the predetermined position (A) of the object 10 with respect to the position of the first marker 11 attached to the object 10 is obtained. Next, based on the obtained three-dimensional coordinates, the relative three-dimensional coordinates of the predetermined position (A) of the object 10 with respect to the separate member 13 are detected from the image including the second marker 14 attached to the separate member 13 from the object 10 and the first marker 11 of the object 10. In this case, the computer 2 can detect the three-dimensional coordinates of a predetermined position (A) on the object 10 to which the marker is attached from the image of the marker.

The detection method and computer 2 disclosed herein are not limited to the above-described aspects, and various modifications can be made.

In the present embodiment, an example of acquiring information on the relative three-dimensional coordinates of a predetermined position (A) of the object 10 has been described, but the present invention is not limited to this. For example, instead of the three-dimensional coordinates, information on a relative three-dimensional direction vector of the direction from the first marker 11 to the predetermined position with respect to another member 13 may be acquired.

In addition, information on the relative three-dimensional coordinates of the predetermined position (A) of the object 10 may be obtained, and information on the three-dimensional direction vector of the predetermined position (A) relative to the first marker 11 may be obtained. In addition, by capturing an image of the second marker 14 attached to a member 13 other than the object 10 and the first marker 11 of the object 10, the relative three-dimensional coordinates of the predetermined position (A) of the object 10 relative to the other member 13 and the relative three-dimensional direction vector of the direction from the first marker 11 to the predetermined position (A) relative to the other member 13 may be detected from an image including the captured first marker 11 and second marker 14 based on the captured three-dimensional coordinates and three-dimensional direction vector. In this case, by capturing the three-dimensional direction vector in addition to the three-dimensional coordinates, the predetermined position (A) on the object 10 can be identified with higher accuracy.

In addition, in this embodiment, the alignment marker 71 arranged on the alignment member 7 and the first marker 11 attached to the object 10 are simultaneously imaged, but the present disclosure is not limited to this. For example, in the detection method disclosed herein, the alignment marker 71 is arranged at a predetermined reference point (origin (O)) of the alignment member 7, and the alignment marker 71 is imaged by the fixed-position imaging device 3. Next, the alignment marker 71 is removed, a predetermined position (A) of the object 10 is aligned with a predetermined reference point (origin (O)) of the alignment member 7, and the first marker 11 is imaged by the imaging device 3. Next, based on the image including the imaged alignment marker 71 and the imaged image including the first marker 11, information on the relative three-dimensional coordinates of the predetermined position (A) of the object 10 with respect to the position of the first marker 11 attached to the object 10 is obtained. In this case, after imaging the alignment marker 71 attached to a predetermined reference point (origin (O)), the first marker 11 is imaged with the predetermined position (A) of the object 10 aligned with the predetermined reference point (origin (O)), so calibration can be performed even with a narrow angle of view based on three-dimensional coordinates. Next, by imaging the second marker 14 attached to a member 13 separate from the object 10 and the first marker 11 of the object 10, the relative three-dimensional coordinates of the predetermined position (A) of the object 10 relative to the separate member 13 are detected from the image including the imaged first marker 11 and second marker 14 based on the acquired three-dimensional coordinates. This allows the detection process to be performed.

In another detection method disclosed herein, an alignment marker 71 is placed at a predetermined reference point (origin (O)) of the alignment member 7, and an image of the alignment marker 71 is captured by a fixed-position imaging device 3. Next, the alignment marker 71 is removed, a predetermined position (A) of the object 10 is aligned with the predetermined reference point (origin (O)) of the alignment member 7, and an image of the first marker 11 is captured by the imaging device 3. Next, based on the captured image including the alignment marker 71 and the captured image including the first marker 11, information on the relative three-dimensional direction vector of the predetermined position (A) of the object 10 with respect to the first marker 11 attached to the object 10 is obtained. In this case, after imaging the alignment marker 71 attached to a predetermined reference point (origin (O)), the first marker 11 is imaged in a state where a predetermined position (A) of the object 10 is aligned with the predetermined reference point (origin (O)), and calibration is performed based on the three-dimensional direction vector, so that calibration can be performed with a narrow angle of view and focusing on the three-dimensional direction. Next, by imaging the second marker 14 attached to a member 13 other than the object 10 and the first marker 11 of the object 10, a relative three-dimensional direction vector of the direction from the first marker 11 to the predetermined position (A) with respect to the other member 13 is detected from the image including the imaged first marker 11 and second marker 14 based on the acquired three-dimensional direction vector. This allows the detection process to be performed.

In addition, in yet another detection method of the present disclosure, an alignment marker 71 is placed at a predetermined reference point (origin (O)) of the alignment member 7, and an image of the alignment marker 71 is captured by a fixed-position imaging device 3. Next, the alignment marker 71 is removed, a predetermined position (A) of the object 10 is aligned with a predetermined reference point (origin (O)) of the alignment member 7, and an image of the first marker 11 is captured by the imaging device 3. Next, based on the captured image including the alignment marker 71 and the captured image including the first marker 11, information on the relative three-dimensional coordinates of the predetermined position (A) of the object 10 with respect to the position of the first marker 11 attached to the object 10 and information on the relative three-dimensional direction vector of the predetermined position (A) of the object 10 with respect to the first marker 11 are obtained. In this case, after imaging the alignment marker 71 attached to a predetermined reference point (origin (O)), the first marker 11 is imaged in a state where a predetermined position (A) of the object 10 is aligned with the predetermined reference point (origin (O)), and calibration is performed based on the three-dimensional coordinates and three-dimensional direction vector, so that calibration can be performed with a narrow angle of view and by combining the three-dimensional coordinates and the three-dimensional direction. Next, by imaging the second marker 14 attached to a member 13 other than the object 10 and the first marker 11 of the object 10, the relative three-dimensional coordinates of the predetermined position (A) of the object 10 with respect to the other member 13 and the relative three-dimensional direction vector of the direction from the first marker 11 to the predetermined position (A) with respect to the other member 13 are detected from the image including the imaged first marker 11 and second marker 14 based on the acquired three-dimensional coordinates and three-dimensional direction vector. This allows the detection process to be performed.

In addition, in this embodiment, a recess is formed at the reference point (origin (O)) of the alignment member 7, and the predetermined position (A) of the object 10 may be aligned with the reference point (origin (O)) by inserting a portion of the object 10 at the predetermined position (A) into the recess. In this case, the predetermined position (A) of the object 10 can be aligned with the reference point (origin (O)) by inserting the portion of the object 10 related to the predetermined position (A) into the recess.

Next, FIG. 6 will be described. In the detection method of the present disclosure, the first marker 11 is placed at a predetermined position (B) of the object 101, and the alignment marker 12 is placed at the position of point m2. Next, the first marker 11 and the alignment marker 12 are imaged. Then, based on the image including the imaged alignment marker 12 and the first marker 11, information on the relative three-dimensional coordinates of the predetermined position (point m2) of the alignment marker 12 with respect to the first marker 11 (point m1) placed on the object 101 is acquired, so that calibration can be performed even if the alignment marker 12 is removed from the object 101. Next, the second marker 14 attached to a member 13 other than the object 101 and the first marker 11 of the object 101 are imaged, and based on the acquired three-dimensional coordinates, the relative three-dimensional coordinates of the point m2 with respect to the other member 13 are detected from the image including the imaged second marker 14 and the first marker 11. At this time, as shown in FIG. 6, the calculation means 42 obtains a homogeneous transformation matrix c H m2 -1 based on the matrices at the positions of the imaging device 3 (point C) and the reference point (point m2) from the image data captured by the imaging device ^3. Also, based on the matrices at the positions of the imaging device 3 (point C) and the first marker 11 (point m1), a homogeneous transformation matrix _c H _m1 is obtained. _Then , based on the obtained _c H _m1 and _c H _m2 ^-1 , _m1 H _m2 ( _c H _{m2 -1 c} H _m1 ) is obtained. In this case, since the ^m1 coordinate system and the m2 coordinate system are treated as the same coordinate system and calibration is performed based on three-dimensional coordinates, it is possible to obtain the position and orientation of the m2 coordinate system in the m1 coordinate system with a narrow angle of view and three-dimensional coordinates and perform calibration. Therefore, for example, when assembling parts using a crane, it is also possible to estimate the position at which the parts are connected to each other. In the detection process, _c H _m2 ( _c H _m1m2 H _m1 ⁻¹ ) is obtained.

In addition, in the detection method disclosed herein, an alignment marker 12 is placed at a predetermined position (B) of the object 101 to which the first marker 11 is attached, and an image of the first marker 11 and the alignment marker 12 is captured. Next, based on the captured image including the alignment marker 12 and the first marker 11, information on a three-dimensional direction vector in a predetermined direction extending perpendicularly from the predetermined position (B) to the first marker 11 is acquired, and calibration is performed based on the three-dimensional direction vector. Next, an image of a second marker 14 attached to a member 13 other than the object 101 and the first marker 11 of the object 101 is captured, and based on the acquired three-dimensional direction vector, a relative three-dimensional direction vector in a predetermined direction with respect to the other member 13 is detected from the captured image including the first marker 11 and the second marker 14.

In addition, in the detection method disclosed herein, an alignment marker 12 is placed at a predetermined position (B) of the object 101 to which the first marker 11 is attached, and an image of the first marker 11 and the alignment marker 12 is captured. Next, based on the captured image including the alignment marker 12 and the first marker 11, information on the relative three-dimensional coordinates of the predetermined position (B) of the object 101 with respect to the position of the first marker 11 attached to the object 101 and information on a three-dimensional direction vector of a predetermined direction extending from the predetermined position (B) perpendicular to the first marker 11 are obtained, thereby performing calibration based on the three-dimensional coordinates and the three-dimensional direction vector. Next, the second marker 14 attached to a member 13 separate from the object 101 and the first marker 11 of the object 101 are imaged, and based on the acquired three-dimensional coordinates and three-dimensional direction vector, the relative three-dimensional coordinates of a predetermined position (B) of the object 101 relative to the separate member 13 and the relative three-dimensional direction vector in a predetermined direction relative to the separate member 13 are detected from the image including the imaged first marker 11 and second marker 14.

Next, FIG. 7 will be described. In the detection method of the present disclosure, the first alignment marker 15 is placed at a first predetermined position (point A1) of the first object 111 to which the first marker 11 is attached, and the first marker 11 and the first alignment marker 15 are imaged. At this time, the first alignment marker 15 is placed, for example, at point A1 in FIG. 7. Based on the image including the captured first alignment marker 15 and the first marker 11, information on the relative three-dimensional coordinates of the first predetermined position (point A1) of the first object 111 with respect to the position of the first marker 11 attached to the first object 111 and information on a three-dimensional direction vector of a first predetermined direction extending perpendicularly from the first predetermined position (point A1) to the first alignment marker 15 are obtained. Next, the second alignment marker 16 is placed at a second predetermined position (point A2) of the second object 112 to which the second marker 14 is attached, and an image of the second marker 14 and the second alignment marker 16 is captured. At this time, the second alignment marker 16 is placed at, for example, point A2 in Fig. 7. Next, based on the captured image including the second alignment marker 16 and the second marker 14, information on the relative three-dimensional coordinates of the second predetermined position (point A2) of the second object 112 with respect to the position of the second marker 14 attached to the second object 112 and information on a three-dimensional direction vector of a second predetermined direction extending perpendicularly from the second predetermined position (point A2) to the second alignment marker 16 are acquired. Next, the first marker 11 of the first object 111 and the second marker 14 of the second object 112 are imaged, and from the image including the imaged first marker 11 and second marker 14, the relative three-dimensional coordinates of the first predetermined position (point A1) of the first object 111 with respect to the second predetermined position (point A2) of the second object 112 and the relative three-dimensional direction vector of the first predetermined direction of the first object 111 with respect to the second predetermined direction of the second object 112 are detected. In this case, even if the first object 111 and the second object 112 overlap and a blind spot exists when photographing by the imaging device 3, the position difference at the alignment point can be measured and alignment of points A1 and A2 can be performed. Furthermore, when calculating the inclination difference between the first object 111 and the second object 112, the calculation means 42 can express, for example, the inner product of the image data captured by the image capture device 3 (point C) to point A1 (C-A1) and point C to point A'(C-A'). The difference between point A1 and point A' can be expressed as _A1 H _A '= _c H _A1 ^-1 _c H _A ' when point A1 is used as a reference. In this case, the inclination difference at the alignment point can be measured, and the holes formed in the first object 111 and the second object 112 can be aligned. In this way, it becomes possible to smoothly insert a rod-shaped member into the communication hole formed by communicating the respective holes.

Although the calibration process has been described in detail in this embodiment, the detection method in this embodiment may acquire information on the three-dimensional coordinates and three-dimensional direction vectors of the predetermined position (A) of the object 10 in advance. For example, the detection method in this embodiment acquires information on the relative three-dimensional coordinates of the predetermined position (A) of the object 10 with respect to the position of the first marker 11 attached to the object 10. In addition, by capturing an image of the second marker 14 attached to a member 13 other than the object 10 and the first marker 11 of the object 10, the relative three-dimensional coordinates of the predetermined position (A) of the object 10 with respect to the other member 13 may be detected from an image including the captured first marker 11 and second marker 14 based on the acquired three-dimensional coordinates. In this case, the information on the three-dimensional coordinates of the predetermined position (A) of the object 10 acquired in advance can be used.

Also, for example, the detection method in this embodiment acquires information on a relative three-dimensional direction vector of a predetermined position (A) of the object 10 with respect to a first marker 11 attached to the object 10. Also, by capturing an image of a second marker 14 attached to a member 13 separate from the object 10 and the first marker 11 of the object 10, a relative three-dimensional direction vector of the direction from the first marker 11 to the predetermined position (A) with respect to the separate member 13 may be detected from an image including the captured first marker 11 and second marker 14 based on the acquired three-dimensional direction vector. In this case, information on the three-dimensional direction vector of the predetermined position (A) on the object 10 acquired in advance can be used.

For example, the detection method in this embodiment acquires information on the relative three-dimensional coordinates of a predetermined position (A) of the object 10 with respect to the position of the first marker 11 attached to the object 10, and also acquires information on the three-dimensional direction vector of the object 10 with respect to the first marker 11. In addition, by capturing an image of the second marker 14 attached to a member 13 other than the object 10 and the first marker 11 of the object 10, the relative three-dimensional coordinates of the predetermined position (A) of the object 10 with respect to the other member 13 and the relative three-dimensional direction vector of the direction from the first marker 11 to the predetermined position (A) with respect to the other member 13 may be detected from an image including the captured first marker 11 and second marker 14 based on the acquired three-dimensional coordinates and three-dimensional direction vector. In this case, information on the three-dimensional coordinates and three-dimensional direction vector of the predetermined position (A) on the object 10 acquired in advance can be used.

In addition, in the computer 2 of this embodiment, the control unit 4 executes a program to receive images of the alignment marker 71 and the first marker 11 when the predetermined position (A) of the object 10 to which the first marker 11 is attached is aligned with a predetermined reference point (origin (O)) of the alignment member 7 on which the alignment marker 71 is arranged. Also, based on the received image including the alignment marker 71 and the first marker 11, information on the relative three-dimensional direction vector of the predetermined position (A) of the object 10 with respect to the first marker 11 attached to the object 10 is obtained. In this case, the computer 2 can perform calibration using the three-dimensional direction vector instead of the three-dimensional coordinate. Also, based on the obtained three-dimensional coordinates, the relative three-dimensional coordinates of the predetermined position (A) of the object 10 with respect to the other member 13 are detected from the image including the second marker 14 attached to the other member 13 from the object 10 and the first marker 11 of the object 10.

In addition, in the computer 2 of this embodiment, the control unit 4 executes a program to receive images of the alignment marker 71 and the first marker 11 when the predetermined position (A) of the object 10 to which the first marker 11 is attached is aligned with a predetermined reference point (origin (O)) of the alignment member 7 on which the alignment marker 71 is arranged. In addition, based on the received image including the alignment marker 71 and the first marker 11, information on the relative three-dimensional coordinates of the predetermined position (A) of the object 10 with respect to the position of the first marker 11 attached to the object 10 is obtained, and information on the three-dimensional direction vector of the object 10 with respect to the first marker 11 is obtained. In this case, the computer 2 can specify the predetermined position (A) on the object 10 with higher accuracy by calculating the three-dimensional direction vector in addition to the three-dimensional coordinates. In addition, based on the acquired three-dimensional coordinates and three-dimensional direction vector, the relative three-dimensional coordinates of a predetermined position (A) of the object 10 relative to the other member 13 and the relative three-dimensional direction vector of the direction from the first marker 11 to the predetermined position (A) relative to the other member 13 are detected from an image including the first marker 11 and the second marker 14.

In addition, in the computer 2 of this embodiment, the control unit 4 executes a program to accept an image of the alignment marker 71, which is placed at a predetermined reference point (origin (O)) of the alignment member 7 and is captured by the fixed-position imaging device 3. Also, an image of the first marker 11, which is attached to the object 10 and is captured by the imaging device 3 when the predetermined position (A) of the object 10 is aligned with the predetermined reference point (origin (O)) of the alignment member 7, is accepted. Also, based on the accepted image including the alignment marker 71 and the accepted image including the first marker 11, information on the relative three-dimensional coordinates of the predetermined position (A) of the object 10 with respect to the position of the first marker 11 attached to the object 10 is obtained. In this case, the computer 2 captures an image of the alignment marker 71 attached to a predetermined reference point (origin (O)), and then captures an image of the first marker 11 with a predetermined position (A) of the object 10 aligned with the predetermined reference point (origin (O)), making it possible to perform calibration even with a narrow angle of view based on the three-dimensional coordinates. In addition, based on the acquired three-dimensional coordinates, the computer 2 detects the relative three-dimensional coordinates of the predetermined position (A) of the object 10 relative to the separate member 13 from the object 10, from an image including the second marker 14 attached to the separate member 13 from the object 10 and the first marker 11 of the object 10.

In addition, in the computer 2 of this embodiment, the control unit 4 executes a program to accept an image of the alignment marker 71, which is placed at a predetermined reference point (origin (O)) of the alignment member 7 and is captured by the fixed-position imaging device 3. Also, an image of the first marker 11, which is attached to the object 10 and is captured by the imaging device 3 when the predetermined position (A) of the object 10 is aligned with the predetermined reference point (origin (O)) of the alignment member 7, is accepted. Also, based on the image including the accepted alignment marker 71 and the image including the accepted first marker 11, information on the relative three-dimensional direction vector of the predetermined position (A) of the object 10 with respect to the first marker 11 attached to the object 10 is obtained. In this case, the computer 2 captures an image of the alignment marker 71 attached to a predetermined reference point (origin (O)), then captures an image of the first marker 11 with a predetermined position (A) of the object 10 aligned with the predetermined reference point (origin (O)), and performs calibration based on the three-dimensional direction vector, so that calibration can be performed with a narrow angle of view and focusing on the three-dimensional direction. In addition, based on the acquired three-dimensional direction vector, a relative three-dimensional direction vector of the direction from the first marker 11 to the predetermined position (A) with respect to the separate member 13 is detected from an image including the second marker 14 attached to a separate member 13 from the object 10 and the first marker 11 attached to the object 10.

In addition, in the computer 2 of this embodiment, the control unit 4 executes a program to receive an image of the alignment marker 71, which is placed at a predetermined reference point (origin (O)) of the alignment member 7 and is captured by the fixed-position imaging device 3. Also, an image of the first marker 11, which is attached to the object 10 and captured by the imaging device 3 when the predetermined position (A) of the object 10 is aligned with the predetermined reference point (origin (O)) of the alignment member 7, is received. Also, based on the image including the received alignment marker 71 and the image including the received first marker 11, information on the relative three-dimensional coordinates of the predetermined position (A) of the object 10 with respect to the position of the first marker 11 attached to the object 10 and information on the relative three-dimensional direction vector of the predetermined position (A) of the object 10 with respect to the first marker 11 are obtained. In this case, the computer 2 captures an image of the alignment marker 71 attached to a predetermined reference point (origin (O)), then captures an image of the first marker 11 in a state where a predetermined position (A) of the object 10 is aligned with the predetermined reference point (origin (O)), and performs calibration based on the three-dimensional coordinates and three-dimensional direction vectors. This allows for calibration with a narrow angle of view and a combination of three-dimensional coordinates and three-dimensional directions. In addition, based on the acquired three-dimensional coordinates and three-dimensional direction vectors, the computer 2 detects the relative three-dimensional coordinates of the predetermined position (A) of the object 10 relative to the other member 13 and the relative three-dimensional direction vector of the direction from the first marker 11 to the predetermined position (A) relative to the other member 13 from an image including the second marker 14 attached to the other member 13 and the first marker 11 attached to the object 10.

In addition, in the computer 2 of this embodiment, the control unit 4 executes a program to receive images of the first marker 11 and the alignment marker 12 attached to the object 101 when the alignment marker 12 is placed at a predetermined position (B) of the object 101. Based on the received image including the alignment marker 12 and the first marker 11, information on the relative three-dimensional coordinates of the predetermined position (B) of the object 101 with respect to the position of the first marker 11 attached to the object 101 is obtained. In this case, the computer 2 treats the first marker 11 as the same coordinate system as the m1 coordinate system and the m2 coordinate system, and performs calibration based on three-dimensional coordinates, so that it is possible to obtain the position and orientation of the m2 coordinate system in the m1 coordinate system with a narrow angle of view and three-dimensional coordinates. In addition, based on the acquired three-dimensional coordinates, the relative three-dimensional coordinates of a predetermined position (B) of the object 101 with respect to the separate member 13 are detected from an image including the second marker 14 attached to the separate member 13 from the object 101 and the first marker 11 of the object 101.

In addition, in the computer 2 of this embodiment, the control unit 4 executes a program to receive an image of the first marker 11 and the alignment marker 12 attached to the object 101 when the alignment marker 12 is placed at a predetermined position (B) on the object 101. Based on the received image including the alignment marker 12 and the first marker 11, information on a three-dimensional direction vector in a predetermined direction extending perpendicularly from the predetermined position (B) to the first marker 11 is acquired. In this case, the computer 2 can perform calibration based on the three-dimensional direction vector by treating the first marker 11 as the same coordinate system as the m1 coordinate system and the m2 coordinate system. Based on the acquired three-dimensional direction vector, a relative three-dimensional direction vector in a predetermined direction with respect to the other member 13 is detected from an image including the second marker 14 attached to the other member 13 from the object 101 and the first marker 11 of the object 101.

In addition, in the computer 2 of this embodiment, the control unit 4 executes a program to receive images of the first marker 11 and the alignment marker 12 attached to the object 101 when the alignment marker 12 is placed at a predetermined position (B) of the object 101. Based on the received image including the alignment marker 12 and the first marker 11, information on the relative three-dimensional coordinates of the predetermined position (B) of the object 101 with respect to the position of the first marker 11 attached to the object 101 and information on a three-dimensional direction vector of a predetermined direction extending from the predetermined position (B) so as to be perpendicular to the first marker 11 are obtained. In this case, the computer 2 can perform calibration based on the three-dimensional coordinates and the three-dimensional direction vector by treating the first marker 11 as the same coordinate system as the m1 coordinate system and the m2 coordinate system. In addition, based on the acquired three-dimensional coordinates and three-dimensional direction vector, the system detects the relative three-dimensional coordinates of a predetermined position (B) of the object 101 relative to the separate member 13 and the relative three-dimensional direction vector in a predetermined direction relative to the separate member 13 from an image including the second marker 14 attached to the separate member 13 and the first marker 11 of the object 101.

In addition, in the computer 2 of this embodiment, the control unit 4 executes a program to receive an image of the first alignment marker 15 attached to the first object 111 when the first alignment marker 15 is placed at the first predetermined position of the first object 111. Based on the received image including the first alignment marker 15, information on the relative three-dimensional coordinates of the first predetermined position of the first object 111 attached to the first object 111 and information on the three-dimensional direction vector of the first predetermined direction extending from the first predetermined position perpendicular to the first alignment marker 15 are obtained. In addition, an image of the second alignment marker 16 attached to the second object 112 when the second alignment marker 16 is placed at the second predetermined position of the second object 112 is received. Furthermore, based on the received image including the second alignment marker 16, information on the relative three-dimensional coordinates of the second predetermined position of the second object 112 attached to the second object 112 and information on a three-dimensional direction vector of a second predetermined direction extending from the second predetermined position perpendicularly to the second alignment marker 16 are acquired. Furthermore, when an image including the first alignment marker 15 of the first object 111 and the second alignment marker 16 of the second object 112 is received, the relative three-dimensional coordinates of the first predetermined position of the first object 111 with respect to the second predetermined position of the second object 112 and the relative three-dimensional direction vector of the first predetermined direction of the first object 111 with respect to the second predetermined direction of the second object 112 are detected from the received image including the first alignment marker 15 and the second alignment marker 16. In this case, even if the first object 111 and the second object 112 overlap and there is a blind spot for the imaging device 3, the computer 2 can perform alignment and measure the position difference and tilt difference at the alignment point.

In the computer 2 in this embodiment, the three-dimensional coordinates and three-dimensional direction vector information of the predetermined position (A) of the object 10 may be acquired in advance. For example, the computer 2 in this embodiment acquires information on the relative three-dimensional coordinates of the predetermined position (A) of the object 10 with respect to the position of the first marker 11 attached to the object 10 by the control unit 4 executing a program. In addition, based on the acquired three-dimensional coordinates, the relative three-dimensional coordinates of the predetermined position (A) of the object 10 with respect to another member 13 may be detected from an image including the second marker 14 attached to a member 13 other than the object 10 and the first marker 11 of the object 10. In this case, the information on the three-dimensional coordinates of the predetermined position (A) of the object 10 acquired in advance can be used.

In addition, for example, the computer 2 in this embodiment may acquire information on a relative three-dimensional direction vector of a predetermined position (A) of the object 10 with respect to a first marker 11 attached to the object 10 by executing a program with the control unit 4, and may also detect the relative three-dimensional coordinates of the predetermined position (A) of the object 10 with respect to another member 13 from an image including a second marker 14 attached to a member 13 other than the object 10 and the first marker 11 of the object 10 based on the acquired three-dimensional coordinates. In this case, information on the three-dimensional direction vector of the predetermined position (A) on the object 10 acquired in advance may be used.

In addition, for example, the computer 2 in this embodiment acquires information on the relative three-dimensional coordinates of a predetermined position (A) of the object 10 with respect to the position of the first marker 11 attached to the object 10, and acquires information on a three-dimensional direction vector of the object 10 with respect to the first marker 11, by having the control unit 4 execute a program. In addition, based on the acquired three-dimensional coordinates and three-dimensional direction vector, the computer 2 may detect the relative three-dimensional coordinates of the predetermined position (A) of the object 10 with respect to another member 13 and the relative three-dimensional direction vector of the direction from the first marker 11 to the predetermined position (A) with respect to the other member 13 from an image including the first marker 11 and the second marker 14. In this case, information on the three-dimensional coordinates and three-dimensional direction vector of the predetermined position (A) on the object 10 acquired in advance can be used.

In addition, as shown in FIG. 8, when the target object 10 is treated as, for example, a part of a welding robot, the detection method and computer 2 according to this embodiment can measure whether the welding robot is operating in the correct position by capturing images of the alignment marker 71 and the first marker 11 with the imaging device 3. In this case, by attaching an AR marker to a component that can measure not only the position but also the welding angle, it is possible to determine whether the part is placed in the specified position and the welding point for that part.

In addition, by using the detection method and computer 2 according to this embodiment, as shown in FIG. 9, it is possible to measure the displacement of the ground surface due to a landslide or the like at an erosion control site. At this time, a fixed imaging device 3 captures images of an object 10 installed on the ground surface and having a first marker 11 attached thereto over time, and captures images of the first marker 11 before and after the ground surface moves. In this case, it is also possible to grasp the ground surface, the amount of movement, and the direction of movement.

Moreover, by using the detection method and computer 2 according to this embodiment, it is also possible to perform drawing in a three-dimensional space as shown in FIG. 10. At this time, for example, a rectangular parallelepiped marker is attached to one end portion of the object 10 that is not the handle portion when drawing. First, in the alignment process, _c H _A is calculated from the calibration process according to this embodiment. Then, by deriving _m1 H _A = _c H _m1 ^-1 _c H m2m2 H _A from _m1 H _A = _c H _m1 ^-1 _c H _m2m2 H _A , the amount of t _z of _m1 H _A becomes the vertical distance from the virtual plane to point A, and drawing can be performed in the coordinate system of point A when t _z is equal to or less than the threshold value. Therefore, by measuring the length from the virtual plane generated using the alignment marker 71 to point A, the contact between the two can be specified.

Also, as shown in Fig. 11, the target object 10 can be used as a laser pointer. In this case, by calculating _m1 H _m2 = _c H _m1 ^{- 1} _c H _m2 , the position and inclination of the first marker 11 are first obtained when the m1 coordinate system is used as a reference. Here, if the first marker 11 can be placed on the central axis with respect to the target object 10, alignment is not required. Then, the Z-axis direction of the first marker 11 can be treated as the direction of the laser.

Reference Signs List 1 Position detection system 2 Computer 3 Imaging device 4 Control unit 5 Memory unit 6 Communication unit 7 Alignment member 10 Object 11 First marker 12 Alignment marker 13 Another member 14 Second marker 15 First alignment marker 16 Second alignment marker 41 Acceptance means 42 Calculation means 43 Detection means 71 Alignment marker 101 Object 111 First object 112 Second object

Claims (28)

1. A method for detecting a predetermined position of an object having a first marker attached thereto, comprising:
aligning the predetermined position of the object with a predetermined reference point of an alignment member on which an alignment marker is arranged;
capturing an image of the alignment marker and the first marker disposed on the alignment member;
acquiring information on three-dimensional coordinates of the predetermined position of the object relative to a position of the first marker attached to the object based on an image including the alignment marker and the first marker that has been captured;
a step of capturing an image of a second marker attached to a member other than the object and the first marker of the object, and detecting, based on the acquired three-dimensional coordinates, from an image including the captured first marker and the captured second marker, a relative three-dimensional coordinate of the predetermined position of the object with respect to the separate member;
The detection method comprises: 1. A method for detecting a direction of an object having a first marker attached thereto to a predetermined position, comprising:
aligning the predetermined position of the object with a predetermined reference point of an alignment member on which an alignment marker is arranged;
capturing an image of the alignment marker and the first marker disposed on the alignment member;
acquiring information on a relative three-dimensional direction vector of the predetermined position of the object with respect to the first marker attached to the object based on an image including the captured alignment marker and the first marker;
detecting a relative three-dimensional direction vector of a direction from the first marker to the predetermined position with respect to the other member from an image including the captured first marker and the second marker based on the acquired three-dimensional direction vector by capturing an image of the first marker and the second marker attached to a member other than the object;
The detection method comprises: 1. A method for detecting a predetermined position and a direction to the predetermined position of an object having a first marker attached thereto, comprising:
aligning the predetermined position of the object with a predetermined reference point of an alignment member on which an alignment marker is arranged;
capturing an image of the alignment marker and the first marker disposed on the alignment member;
acquiring information on three-dimensional coordinates of the predetermined position of the object relative to a position of the first marker attached to the object, based on an image including the captured alignment marker and the first marker, and acquiring information on a three-dimensional direction vector of the object relative to the first marker;
a step of capturing an image of a second marker attached to a member other than the object and the first marker of the object, and detecting, based on the acquired three-dimensional coordinates and the three-dimensional direction vector, from an image including the captured first marker and the second marker, a relative three-dimensional coordinate of the predetermined position of the object with respect to the other member and a relative three-dimensional direction vector of a direction from the first marker to the predetermined position with respect to the other member;
The detection method comprises: The detection method according to any one of claims 1 to 3, wherein the alignment member has a flat surface, a predetermined reference point is formed on the flat surface, and the alignment marker is disposed on the flat surface. 1. A method for detecting a predetermined position of an object having a first marker attached thereto, comprising:
A step of placing an alignment marker at a predetermined reference point of the alignment member and capturing an image of the alignment marker by an imaging device having a fixed position;
aligning the predetermined position of the object with the predetermined reference point of the alignment member, and capturing an image of the first marker by the imaging device;
acquiring information on three-dimensional coordinates of the predetermined position of the object relative to a position of the first marker attached to the object, based on an image including the alignment marker and an image including the first marker;
a step of capturing an image of a second marker attached to a member other than the object and the first marker of the object, and detecting, based on the acquired three-dimensional coordinates, from an image including the captured first marker and the captured second marker, a relative three-dimensional coordinate of the predetermined position of the object with respect to the separate member;
The detection method comprises: 1. A method for detecting a direction of an object having a first marker attached thereto to a predetermined position, comprising:
A step of placing an alignment marker at a predetermined reference point of the alignment member and capturing an image of the alignment marker by an imaging device having a fixed position;
aligning the predetermined position of the object with the predetermined reference point of the alignment member, and capturing an image of the first marker by the imaging device;
acquiring information on a relative three-dimensional direction vector of the predetermined position of the object with respect to the first marker attached to the object based on an image including the alignment marker and an image including the first marker;
detecting a relative three-dimensional direction vector of a direction from the first marker to the predetermined position with respect to the other member from an image including the captured first marker and the second marker based on the acquired three-dimensional direction vector by capturing an image of the first marker and the second marker attached to a member other than the object;
The detection method comprises: 1. A method for detecting a predetermined position and a direction to the predetermined position of an object having a first marker attached thereto, comprising:
A step of placing an alignment marker at a predetermined reference point of the alignment member and capturing an image of the alignment marker by an imaging device having a fixed position;
aligning the predetermined position of the object with the predetermined reference point of the alignment member, and capturing an image of the first marker by the imaging device;
acquiring information on three-dimensional coordinates of the predetermined position of the object relative to a position of the first marker attached to the object and information on a three-dimensional direction vector of the predetermined position of the object relative to the first marker, based on an image including the captured alignment marker and an image including the captured first marker;
a step of capturing an image of a second marker attached to a member other than the object and the first marker of the object, and detecting, based on the acquired three-dimensional coordinates and the three-dimensional direction vector, from an image including the captured first marker and the second marker, a relative three-dimensional coordinate of the predetermined position of the object with respect to the other member and a relative three-dimensional direction vector of a direction from the first marker to the predetermined position with respect to the other member;
The detection method comprises: The detection method according to any one of claims 1 to 3 and 5 to 7, in which a recess is formed at the reference point of the alignment member, and the predetermined position of the object is aligned with the reference point by inserting a portion of the object at the predetermined position into the recess. placing an alignment marker at a predetermined position of the object to which the first marker is attached, and capturing an image of the first marker and the alignment marker;
acquiring information on three-dimensional coordinates of the predetermined position of the object relative to a position of the first marker attached to the object based on an image including the alignment marker and the first marker that has been captured;
a step of capturing an image of a second marker attached to a member other than the object and the first marker of the object, and detecting, based on the acquired three-dimensional coordinates, from an image including the captured first marker and the captured second marker, a relative three-dimensional coordinate of the predetermined position of the object with respect to the separate member;
The detection method comprises: placing an alignment marker at a predetermined position of the object to which the first marker is attached, and capturing an image of the first marker and the alignment marker;
acquiring information on a three-dimensional direction vector in a predetermined direction extending from the predetermined position perpendicularly to the first marker based on an image including the alignment marker and the first marker that has been captured;
a step of capturing an image of a second marker attached to a member other than the object and the first marker of the object, and detecting a relative three-dimensional direction vector of the predetermined direction with respect to the other member from an image including the captured first marker and the captured second marker based on the acquired three-dimensional direction vector;
The detection method comprises: placing an alignment marker at a predetermined position of the object to which the first marker is attached, and capturing an image of the first marker and the alignment marker;
acquiring information on three-dimensional coordinates of the predetermined position of the object relative to a position of the first marker attached to the object based on an image including the captured alignment marker and the first marker, and information on a three-dimensional direction vector in a predetermined direction extending from the predetermined position perpendicular to the first marker;
a step of capturing an image of a second marker attached to a member other than the object and the first marker of the object, and detecting, based on the acquired three-dimensional coordinates and three-dimensional direction vector, from an image including the captured first marker and the captured second marker, a relative three-dimensional coordinate of the predetermined position of the object with respect to the other member and a relative three-dimensional direction vector of the predetermined direction with respect to the other member;
The detection method comprises: placing a first alignment marker at a first predetermined position of a first object to which a first marker is attached, and capturing an image of the first marker and the first alignment marker;
acquiring information on three-dimensional coordinates of the first predetermined position of the first object relative to a position of the first marker attached to the first object based on an image including the captured first alignment marker and the first marker, and information on a three-dimensional direction vector in a first predetermined direction extending from the first predetermined position perpendicularly to the first alignment marker;
placing a second alignment marker at a second predetermined position of a second object to which the second marker is attached, and capturing an image of the second marker and the second alignment marker;
acquiring information on three-dimensional coordinates of the second predetermined position of the second object relative to the position of the second marker attached to the second object based on an image including the captured second alignment marker and the second marker, and information on a three-dimensional direction vector of a second predetermined direction extending from the second predetermined position perpendicular to the second alignment marker;
capturing an image of the first marker of the first object and the second marker of the second object, and detecting, from an image including the captured first marker and the second marker, a relative three-dimensional coordinate of the first predetermined position of the first object with respect to the second predetermined position of the second object and a relative three-dimensional direction vector of the first predetermined direction of the first object with respect to the second predetermined direction of the second object;
The detection method comprises: 1. A method for detecting a predetermined position of an object having a first marker attached thereto, comprising:
acquiring information on three-dimensional coordinates of the predetermined position of the object relative to a position of the first marker attached to the object;
a step of capturing an image of a second marker attached to a member other than the object and the first marker of the object, and detecting, based on the acquired three-dimensional coordinates, from an image including the captured first marker and the captured second marker, a relative three-dimensional coordinate of the predetermined position of the object with respect to the separate member;
The detection method comprises: 1. A method for detecting a direction of an object having a first marker attached thereto to a predetermined position, comprising:
acquiring information on a relative three-dimensional direction vector of the predetermined position of the object with respect to the first marker attached to the object;
detecting a relative three-dimensional direction vector of a direction from the first marker to the predetermined position with respect to the other member from an image including the captured first marker and the second marker based on the acquired three-dimensional direction vector by capturing an image of the first marker and the second marker attached to a member other than the object;
The detection method comprises: 1. A method for detecting a predetermined position and a direction to the predetermined position of an object having a first marker attached thereto, comprising:
acquiring information on three-dimensional coordinates of the predetermined position of the object relative to a position of the first marker attached to the object, and acquiring information on a three-dimensional direction vector of the object relative to the first marker;
a step of capturing an image of a second marker attached to a member other than the object and the first marker of the object, and detecting, based on the acquired three-dimensional coordinates and the three-dimensional direction vector, from an image including the captured first marker and the second marker, a relative three-dimensional coordinate of the predetermined position of the object with respect to the other member and a relative three-dimensional direction vector of a direction from the first marker to the predetermined position with respect to the other member;
The detection method comprises: The control unit executes the program,
receiving an image of the alignment marker and the first marker when a predetermined position of the object to which the first marker is attached is aligned with a predetermined reference point of an alignment member on which the alignment marker is arranged;
acquiring information on three-dimensional coordinates of the predetermined position of the object relative to a position of the first marker attached to the object, based on the received image including the alignment marker and the first marker;
A computer detects, based on the acquired three-dimensional coordinates, the relative three-dimensional coordinates of the specified position of the object with respect to the other member from an image including a second marker attached to a member other than the object and the first marker of the object. The control unit executes the program,
receiving an image of the alignment marker and the first marker when a predetermined position of the object to which the first marker is attached is aligned with a predetermined reference point of an alignment member on which the alignment marker is arranged;
acquiring information on a three-dimensional direction vector of the predetermined position of the object relative to the first marker attached to the object, based on an image including the alignment marker and the first marker that has been received;
A computer detects, based on the acquired three-dimensional coordinates, the relative three-dimensional coordinates of the specified position of the object with respect to the other member from an image including a second marker attached to a member other than the object and the first marker of the object. The control unit executes the program,
receiving an image of the alignment marker and the first marker when a predetermined position of the object to which the first marker is attached is aligned with a predetermined reference point of an alignment member on which the alignment marker is arranged;
acquiring information on three-dimensional coordinates of the predetermined position of the object relative to a position of the first marker attached to the object, based on an image including the received alignment marker and the first marker, and acquiring information on a three-dimensional direction vector of the object relative to the first marker;
A computer detects, based on the acquired three-dimensional coordinates and three-dimensional direction vector, from an image including the first marker and the second marker, the relative three-dimensional coordinates of the specified position of the object relative to the other member and the relative three-dimensional direction vector of the direction from the first marker to the specified position relative to the other member. The control unit executes the program,
receiving an image of an alignment marker captured by an imaging device that is fixed in position and that is disposed at a predetermined reference point of the alignment member;
receiving an image of a first marker attached to the object captured by the imaging device when a predetermined position of the object is aligned with the predetermined reference point of the alignment member;
acquiring information on three-dimensional coordinates of the predetermined position of the object relative to a position of the first marker attached to the object, based on the received image including the alignment marker and the received image including the first marker;
A computer detects, based on the acquired three-dimensional coordinates, the relative three-dimensional coordinates of the specified position of the object with respect to the other member from an image including a second marker attached to a member other than the object and the first marker of the object. The control unit executes the program,
receiving an image of an alignment marker captured by an imaging device that is fixed in position and that is disposed at a predetermined reference point of the alignment member;
receiving an image of a first marker attached to the object captured by the imaging device when a predetermined position of the object is aligned with the predetermined reference point of the alignment member;
acquiring information on a relative three-dimensional direction vector of the predetermined position of the object with respect to the first marker attached to the object, based on the received image including the alignment marker and the received image including the first marker;
A computer detects, based on the acquired three-dimensional direction vector, a relative three-dimensional direction vector of a direction from the first marker to the specified position with respect to a second marker attached to a member other than the object from an image including the first marker attached to the object and a second marker attached to the other member. The control unit executes the program,
receiving an image of an alignment marker captured by an imaging device that is fixed in position and that is disposed at a predetermined reference point of the alignment member;
receiving an image of a first marker attached to the object captured by the imaging device when a predetermined position of the object is aligned with the predetermined reference point of the alignment member;
acquiring information on three-dimensional coordinates of the predetermined position of the object relative to a position of the first marker attached to the object and information on a three-dimensional direction vector of the predetermined position of the object relative to the first marker, based on the received image including the alignment marker and the received image including the first marker;
A computer detects, based on the acquired three-dimensional coordinates and three-dimensional direction vector, from an image including a second marker attached to a member other than the object and the first marker attached to the object, the relative three-dimensional coordinates of the specified position of the object with respect to the other member and a relative three-dimensional direction vector of the direction from the first marker to the specified position with respect to the other member. The control unit executes the program,
receiving an image of a first marker and the alignment marker attached to the object when the alignment marker is placed at a predetermined position on the object;
acquiring information on three-dimensional coordinates of the predetermined position of the object relative to a position of the first marker attached to the object, based on the received image including the alignment marker and the first marker;
A computer detects, based on the acquired three-dimensional coordinates, the relative three-dimensional coordinates of the specified position of the object with respect to the other member from an image including a second marker attached to a member other than the object and the first marker of the object. The control unit executes the program,
receiving an image of a first marker and the alignment marker attached to the object when the alignment marker is placed at a predetermined position on the object;
acquiring information on a three-dimensional direction vector in a predetermined direction extending from the predetermined position perpendicularly to the first marker based on the received image including the alignment marker and the first marker;
A computer detects a relative three-dimensional direction vector of the specified direction with respect to the other member from an image including a second marker attached to a member other than the object and the first marker of the object based on the acquired three-dimensional direction vector. The control unit executes the program,
receiving an image of a first marker and the alignment marker attached to the object when the alignment marker is placed at a predetermined position on the object;
acquiring information on three-dimensional coordinates of the predetermined position of the object relative to a position of the first marker attached to the object, and information on a three-dimensional direction vector of a predetermined direction extending perpendicularly from the predetermined position to the first marker, based on an image including the received alignment marker and the first marker;
A computer detects, based on the acquired three-dimensional coordinates and three-dimensional direction vector, from an image including a second marker attached to a member other than the object and the first marker of the object, the relative three-dimensional coordinates of the specified position of the object with respect to the other member and the relative three-dimensional direction vector of the specified direction with respect to the other member. The control unit executes the program,
receiving an image of the first alignment marker attached to the first object when the first alignment marker is placed at a first predetermined position on the first object;
acquiring information on relative three-dimensional coordinates of the first predetermined position of the first object attached to the first object and information on a three-dimensional direction vector of a first predetermined direction extending perpendicularly from the first predetermined position to the first alignment marker, based on the received image including the first alignment marker;
receiving an image of the second alignment marker attached to the second object when the second alignment marker is disposed at a second predetermined position on the second object;
acquiring information on relative three-dimensional coordinates of the second predetermined position of the second object attached to the second object and information on a three-dimensional direction vector of a second predetermined direction extending perpendicularly from the second predetermined position to the second alignment marker, based on the received image including the second alignment marker;
a computer that, when receiving an image including the first alignment marker of the first object and the second alignment marker of the second object, detects, from the received image including the first alignment marker and the second alignment marker, a relative three-dimensional coordinate of the first predetermined position of the first object with respect to the second predetermined position of the second object and a relative three-dimensional direction vector of the first predetermined direction of the first object with respect to the second predetermined direction of the second object. The control unit executes the program,
acquiring information on three-dimensional coordinates of a predetermined position of the object relative to a position of a first marker attached to the object;
A computer detects, based on the acquired three-dimensional coordinates, the relative three-dimensional coordinates of the specified position of the object with respect to the other member from an image including a second marker attached to a member other than the object and the first marker of the object. The control unit executes the program,
acquiring information on a three-dimensional direction vector of a predetermined position of the object relative to a first marker attached to the object;
A computer detects, based on the acquired three-dimensional coordinates, the relative three-dimensional coordinates of the specified position of the object with respect to the other member from an image including a second marker attached to a member other than the object and the first marker of the object. The control unit executes the program,
acquiring information on three-dimensional coordinates of a predetermined position of the object relative to a position of a first marker attached to the object, and acquiring information on a three-dimensional direction vector of the object relative to the first marker;
A computer detects, based on the acquired three-dimensional coordinates and three-dimensional direction vector, from an image including the first marker and the second marker, the relative three-dimensional coordinates of the specified position of the object relative to the other member and the relative three-dimensional direction vector of the direction from the first marker to the specified position relative to the other member.

Images