CROSS-REFERENCE TO RELATED APPLICATION

This application claims the benefit of Japanese Patent Application No. 2018-224457, filed on Nov. 30, 2018, and Japanese Patent Application No. 2019-105599, filed on Jun. 5, 2019, of which the entirety of the disclosures is incorporated by reference herein.

FIELD

The present disclosure relates to a position information acquisition device, a position information acquisition method, a recording medium, and a position information acquisition system.

BACKGROUND

As described in International Publication No. WO2005/124687, technology is known heretofore that identifies three-dimensional positions of multiple markers by using multiple cameras to image markers.

SUMMARY

According to the present disclosure, a position information acquisition device for acquiring position information of a position acquisition target arranged in a space includes a processor configured to

detect light that is based on identification information included in-common in captured images that are images of the space captured from a plurality of shooting directions that are different from each other,

acquire a three-dimensional position in the space of the position information acquisition target identified by the identification information, based on detection positions of the detected light in the captured images, and position information of image capturing devices during capturing performed by the image capturing devices by which the images are captured,

acquire reliability degree information of the acquired three-dimensional position of the position information acquisition target, based on information relating to an imaging state of each image capturing device of the image capturing devices during capturing of the captured images, and

store the acquired the reliability degree information in a storage.

In the present disclosure, a position information acquisition method for acquiring position information of a position acquisition target arranged in a space includes:

detecting light that is based on identification information included in-common in captured images that are images of the space captured from a plurality of shooting directions that are different from each other;

acquiring a three-dimensional position in the space of the position information acquisition target identified by the identification information, based on detection positions of the detected light in the captured images, and position information of image capturing devices during capturing performed by the image capturing devices by which the images are captured;

acquiring reliability degree information of the acquired three-dimensional position of the position information acquisition target, based on information relating to an imaging state of each image capturing device of the image capturing devices during capturing of the captured images; and

storing the acquired the reliability degree information in a storage.

In the present disclosure, a non-transitory computer-readable recording medium records a program that causes a computer included in a position information acquisition device for acquiring position information of a position acquisition target arranged in a space to function as:

detection means for detecting light that is based on identification information included in-common in captured images that are images of the space captured from a plurality of shooting directions that are different from each other;

means for acquiring a three-dimensional position in the space of the position information acquisition target identified by the identification information, based on detection positions of the detected light in the captured images, and position information of image capturing devices during capturing performed by the image capturing devices by which the images are captured,

means for acquiring reliability degree information of the acquired three-dimensional position of the position information acquisition target, based on information relating to an imaging state of each image capturing device of the image capturing devices during capturing of the captured images, and

means for storing the acquired the reliability degree information in a storage.

In the present disclosure, a position information acquisition system includes:

image capturing devices configured to capture images of a space from a plurality of shooting directions that are different from each other; and

a position information acquisition device configured to acquire position information of a position acquisition target arranged in the space.

The position information acquisition device includes a processor configured to

detect light that is based on identification information included in-common in captured images that are images captured by the image capturing devices,

acquire a three-dimensional position in the space of the position information acquisition target identified by the identification information, based on detection positions of the detected light in the captured images, and position information of the image capturing devices during capturing performed by image capturing devices by which the images are captured,

acquire reliability degree information of the acquired three-dimensional position of the position information acquisition target, based on information relating to an imaging state of each image capturing device of the image capturing devices during capturing of the captured images, and

store the acquired the reliability degree information in a storage.

