# US 12,217,452 B2 · Position analysis device and method, and camera system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,217,452 B2 - Document ID: US12217452B2 - Status: Granted - Kind: B2 - Application number: 17/941,172 - Filed: 2022-09-09 - Published: 2023-01-05 - Granted: 2025-02-04 - Earliest claimed: 2020-03-27 - Assignees: Panasonic Intellectual Property Management Co., Ltd. - Applicants: Panasonic Intellectual Property Management Co., Ltd. - Inventors: Daijiroh Ichimura; Hidehiko Shin - Web page: https://patentgrep.com/patent/US12217452B2 ## CPC - G06T 7/70: Determining position or orientation of objects or cameras (camera calibration G06T7/80) - H04N 23/698: for achieving an enlarged field of view, e.g. panoramic image capture - G01B 11/00: Measuring arrangements characterised by the use of optical techniques - G06T 7/73: using feature-based methods - H04N 23/80: Camera processing pipelines; Components thereof - G06T 2207/20081: Training; Learning - G06T 2207/30196: Human being; Person - G06T 2207/30204: Marker - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION - G01B: MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS ## Abstract A position analysis device includes: an input interface that acquires the captured image obtained by the camera; a processor that calculates coordinate transformation from a first coordinate system to a second coordinate system with respect to the target position in the acquired captured image; and a memory that stores a correction model to generate a correction amount of a position in the second coordinate system, wherein the processor corrects a transformed position from the target position, based on the correction model including weight functions corresponding to reference positions, the transformed position being a position obtained by the coordinate transformation on the target position in the first coordinate system to the second coordinate system, the weight functions each producing a larger weighting in the correction amount as the transformed position is closer to a corresponding reference position, the reference positions being different from each other in the second coordinate system. ## Claims ### Claim 1 A position analysis device for measuring a target position in a subject based on a captured image of the subject by a camera, the position analysis device comprising: an input interface that acquires the captured image obtained by the camera; a processor that calculates coordinate transformation from a first coordinate system to a second coordinate system with respect to the target position in the acquired captured image, the first coordinate system providing measure in the captured image, the second coordinate system providing measure in the subject; and a memory that stores a correction model to generate a correction amount of a position in the second coordinate system, wherein the processor corrects a transformed position from the target position, based on the correction model including a plurality of weight functions corresponding to a plurality of reference positions, the transformed position being a position obtained by the coordinate transformation on the target position in the first coordinate system to the second coordinate system, the weight functions each producing a larger weighting in the correction amount as the transformed position is closer to a corresponding reference position, the reference positions being different from each other in the second coordinate system. ### Claim 2 (depends on 1) The position analysis device according to claim 1, wherein the correction model generates the correction amount by summing up, for each reference position, a product of a vector and a weight function corresponding to the reference position, the vector indicating an error of the coordinate transformation with respect to the reference position. ### Claim 3 (depends on 1) The position analysis device according to claim 1, wherein the correction model has a weight factor for each weight function, the weight factor adjusting the weighting in accordance with a distance from each reference position to the transformed position. ### Claim 4 (depends on 3) The position analysis device according to claim 3, wherein the correction model is constructed by machine learning for presetting the weight factor to minimize an error at each reference position. ### Claim 5 (depends on 1) The position analysis device according to claim 1, wherein the memory stores a plurality of correction models each corresponding to each set of reference positions in a plurality of sets of reference positions, and the processor switches, among the plurality of correction models, a correction model to be used for correction of the target position. ### Claim 6 (depends on 1) The position analysis device according to claim 1, wherein the camera is an omnidirectional camera, and the first coordinate system is defined by a projection method of the omnidirectional camera. ### Claim 7 (depends on 1) The position analysis device according to claim 1, wherein the second coordinate system is defined by information on arrangement of the subject at a place where the camera is installed. ### Claim 8 (depends on 1) The position analysis device according to claim 1, wherein the target position is a position at which a machining work is performed on a workpiece as the subject. ### Claim 9 (depends on 1) A camera system comprising: a camera that captures an image of the subject to generate the captured image; and the position analysis device according to claim 1, which measures the target position in the subject, based on the captured image by the camera. ### Claim 10 A position analysis method for measuring a target position in a subject based on a captured image of the subject by a camera, the position analysis method comprising: acquiring the captured image obtained by the camera; calculating coordinate transformation from a first coordinate system to a second coordinate system with respect to the target position in the acquired captured image, the first coordinate system providing measure in the captured image, and the second coordinate system providing measure in the subject; and correcting a transformed position from the target position, based on a correction model to generate a correction amount of a position in the second coordinate system, the transformed position being a position obtained by the coordinate transformation on the target position in the first coordinate system to the second coordinate system, wherein the correction model provides a larger weighting in the correction amount for each weight function in a plurality of weight functions corresponding to a plurality of reference positions as the transformed position is closer to a corresponding reference position, the reference positions being different from each other in the second coordinate system. ### Claim 11 (depends on 10) A non-transitory computer-readable recording medium storing a program that causes a computer to execute the position analysis method according to claim 10.