Map generating device, map generating method, and program recording medium

1. A map generation device comprising:

at least one memory storing instructions; and

at least one processor executing the instructions to perform:

identifying, by using a plurality of captured images each of which includes two or more markers, relative positions of the two or more markers in a three-dimensional manner, the two or more makers being disposed at different positions from one another; and

transforming different coordinates system of the plurality of captured images into a common coordinate system based on the identified relative positions of the two or more markers; and

generating map data in which relative positional relation of a plurality of markers are associated with identification information of the plurality of markers,

wherein each of the plurality of markers is included in at least one of the captured images, wherein

when the captured image includes three or more markers,

the at least one processor performs:

identifying a plurality of different pieces of coordinates information regarding every pair of adjacent markers, based on a plurality of captured images that are different in imaging position or imaging direction;

calculating a reliability of the every pair by using the same pair; and

generating the map data using the calculated reliability.

2. The map generation device according to claim 1 ,

wherein the at least one processor transforms each of coordinates that are identified from two captured images that include a marker appearing in both of the images and a marker appearing in either of the images into a coordinate in the common coordinate system.

3. The map generation device according to claim 2 ,

wherein the at least one processor transforms coordinates of a marker whose coordinates are unknown in the common coordinate system, the marker being identified from a captured image that includes the marker whose coordinates are unknown and a marker whose coordinates are known in the common coordinate system, into coordinates in the common coordinate system, based on a positional relation relative to the marker whose coordinates are known.

4. The map generation device according to claim 1 ,

wherein the at least one processor identifies a plurality of pieces of coordinates information with respect to a single marker, based on a plurality of captured images that are different in imaging position or imaging direction,

wherein the at least one processor further performs statistical processing on the identified coordinates information or identification information, and

wherein the at least one processor generates the map data using a result of the statistical processing.

5. The map generation device according to claim 1 ,

wherein the at least one processor uses how many times the same pair is identified as the reliability.

6. The map generation device according to claim 1 ,

wherein the captured image is part of a video recorded at a predetermined frame rate.

7. A map generation method comprising:

at least one memory storing instructions; and

at least one processor executing the instructions to perform:

identifying, by using a plurality of captured images each of which includes two or more markers, relative positions of the two or more markers in a three-dimensional manner, the two or more makers being disposed at different positions from one another; and

transforming different coordinates system of the plurality of captured images into a common coordinate system based on the identified relative positions of the two or more markers, and

generating map data in which relative positional relation of a plurality of markers are associated with identification information of the plurality of markers,

wherein each of the plurality of markers is included in at least one of the captured images, wherein

when the captured image includes three or more markers,

the at least one processor performs:

identifying a plurality of different pieces of coordinates information regarding every pair of adjacent markers, based on a plurality of captured images that are different in imaging position or imaging direction;

calculating a reliability of the every pair by using the same pair; and

generating the map data using the calculated reliability.

8. A non-transient program recording medium recording a program that causes a computer to execute the processing of:

identifying, by using a plurality of captured images each of which includes two or more markers, relative positions of the two or more markers in a three-dimensional manner, the two or more makers being disposed at different positions from one another; and

transforming different coordinates system of the plurality of captured images into a common coordinate system based on the identified relative positions of the two or more markers, and

generating map data in which relative positional relation of a plurality of markers are associated with identification information of the plurality of markers,

wherein each of the plurality of markers is included in at least one of the captured images, wherein

when the captured image includes three or more markers,

the processing further comprising:

identifying a plurality of different pieces of coordinates information regarding every pair of adjacent markers, based on a plurality of captured images that are different in imaging position or imaging direction;

calculating a reliability of the every pair by using the same pair; and

generating the map data using the calculated reliability.