Method of determination of the attitude and the position of a camera on the basis of the image that it provides a zone mapped

摘要

The method consists in providing the image and the mapped area of two systems of cartesian coordinates, to correspond to these systems of cartesian coordinates of the system of coordinates, to determine the matrix of the passage of a system of coordinates homogeneous at the other by means of four points characteristic of the image which is the homologous points in the mapped area, to use this passage matrix in order to express in the two systems of coordinates homogeneous the direction of the trace of the plane of the image on the plane of the mapped area and pull the roll angle phi and of the heading angle psi of the imaging device, the pitch angle, rho and theta the distance of the view-taking apparatus at the point ω of the mapped area is homologous to the center of the omega of the image resulting from relations between the distances between the points of the image and the distances of their corresponding points in the mapped area.