ENTIRE CIRCUMFERENTIAL SPATIAL INFORMATION ACQUISITION METHOD AND DEVICE, ENTIRE CIRCUMFERENTIAL SPATIAL INFORMATION ACQUISITION PROGRAM, AND STORAGE MEDIUM WITH THE PROGRAM RECORDED THEREON

摘要

PROBLEM TO BE SOLVED: To provide a new entire circumferential spatial information acquisition technique capable of efficiently acquiring multi-visual point time-series image data in an outdoor photographing using an all-directional camera as an image input device in a place with frequent traffic jams such as urban district, and acquiring precise spatial information related to the external world from the acquired time-series image.;SOLUTION: An image input device for taking an all-directional image is moved according to a certain geometric pattern to measure the movement, and a multi-visual point image is acquired synchronously with it. The time change in movement of a spatial characteristic point included in the acquired multi-visual point image is measured, and processin is performed so as to acquire and restore the external spatial information extending over the entire circumference by multi-visual point measurement using multi-visual point position information. According to this, the external spatial information extending over the entire circumference can be precisely acquired and restored without moving a vehicle mounted with photographic equipment according to an object of acquisition of spatial information.;COPYRIGHT: (C)2004,JPO