Information processing apparatus, information processing system, device for position and posture acquisition, and device information acquisition method

An information processing system comprising:

• a device including a light-emitting marker;
• an imaging apparatus configured to capture the device with an exposure time shorter than a period of one frame;
• and
• an information processing apparatus configured to acquire position and posture information regarding the device by using data on a moving image captured by the imaging apparatus,
• the information processing apparatus including
• a synchronous processing section configured to request the device to cause the light-emitting marker to emit light in a predetermined flashing pattern in a minimum unit being a time obtained by dividing the period of the one frame by a predetermined number and configured to identify the exposure time on a time axis of the device, based on whether or not an image of the light-emitting marker appears in a predetermined number of frames of the moving image obtained by capturing the device,
• a control information transmitting section configured to request the device to cause the light-emitting marker to emit light at a light emission time point corresponding to the exposure time,
• a position and posture acquiring section configured to acquire the position and posture information regarding the device based on the image in a frame of the moving image of the light-emitting marker emitting light at the light emission time point for a fixed period of time equal to or shorter than the exposure time, and
• an output data generating section configured to generate and output data based on the position and posture information.

A device for position and posture acquisition,

• the device being captured by an imaging apparatus with an exposure time shorter than a period of one frame, and position and posture information regarding the device being acquired by an information processing apparatus using a captured moving image,
• the device comprising:
• a light-emitting marker;
• a control information acquiring section configured to acquire requests associated with light emission from the information processing apparatus;
• and
• a control section configured to
• cause, in response to a first one of the requests, the light-emitting marker to repetitively emit light in a predetermined flashing pattern in a minimum unit being a time obtained by dividing the period of the one frame by a predetermined number, and
• cause, in response to a second one of the requests, the light-emitting marker to emit light at a light emission time point corresponding to the exposure time indicated on a time axis of the device for a fixed period of time equal to or shorter than the exposure time.

A device information acquisition method for an information processing apparatus, comprising:

• acquiring data on a moving image obtained by an imaging apparatus capturing a device including a light-emitting marker with an exposure time shorter than a period of one frame;
• requesting the device to cause the light-emitting marker to emit light in a predetermined flashing pattern in a minimum unit being a time obtained by dividing the period of the one frame by a predetermined number;
• identifying the exposure time on a time axis of the device, based on whether or not an image of the light-emitting marker appears in a predetermined number of frames of the moving image obtained by capturing the device;
• requesting the device to cause the light-emitting marker to emit light at a light emission time point corresponding to the exposure time;
• acquiring position and posture information regarding the device based on the image in a frame of the moving image of the light-emitting marker emitting light at the light emission time point for a fixed period of time equal to or shorter than the exposure time;
• and
• generating and outputting data based on the position and posture information.

A non-transitory, computer readable storage medium containing a computer program, which when executed by a computer, causes the computer to implement a device information acquisition method by carrying out actions, comprising:

• acquiring data on a moving image obtained by an imaging apparatus capturing a device including a light-emitting marker with an exposure time shorter than a period of one frame;
• requesting the device to cause the light-emitting marker to emit light in a predetermined flashing pattern in a minimum unit being a time obtained by dividing the period of the one frame by a predetermined number;
• identifying the exposure time on a time axis of the device, based on whether or not an image of the light-emitting marker appears in a predetermined number of frames of the moving image obtained by capturing the device;
• requesting the device to cause the light-emitting marker to emit light at a light emission time point corresponding to the exposure time;
• acquiring position and posture information regarding the device based on the image in a frame of the moving image of the light-emitting marker emitting light at the light emission time point for a fixed period of time equal to or shorter than the exposure time;
• and
• generating and outputting data based on the position and posture information.