Method for the linear determination of the three - dimensional position with the affine camera correction

摘要

PROBLEM TO BE SOLVED: To reduce influences of calculation error and noise, by photographing a plurality of reference points by a plurality of cameras, assuming a plurality of affine cameras being linear between a three-dimensional space and an image, and calculating how the points are projected by the cameras. ;SOLUTION: A plurality of reference points of known positions in a three- dimensional space are photographed by a plurality of cameras 1, 2,..., N. Their photographing outputs are given to an image processor 10, which generates an image photographed by virtual affine cameras and estimates the three- dimensional position by a linear calculation. The points are all projected again at once to virtual affine cameras without knowing accurate projecting models of the respective camera, and the three-dimensional position is estimated from there. Accordingly, the position not depending upon type position and attitude of the camera can be estimated. Further, the calculation itself is simple, and the position can be stably estimated linearly from the virtual affine cameras. Therefore, influences of calculation error and noise can be reduced.;COPYRIGHT: (C)1999,JPO