A system for estimating the yaw, pitch, roll, and the three-dimensional position of a rigid body from a single camera view is described. In addition to estimating the six degrees of freedom (six DOF), the system can automatically track the six DOF in a sequence of images. The commercially available image analysis workstation hosting the six DOF algorithm and software is described briefly. An overview of the algorithm's automatic and manual tracking cycle is given. The sensor and scenario parameters influencing the estimation accuracy are discussed. An example of video-theodolite imaging is used to demonstrate the estimation error covariance model.
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