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POSITIONING APPARATUS CAPABLE OF MEASURING POSITION OF MOVING BODY USING IMAGE CAPTURING APPARATUS
POSITIONING APPARATUS CAPABLE OF MEASURING POSITION OF MOVING BODY USING IMAGE CAPTURING APPARATUS
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机译:能够使用图像捕获装置测量移动体的位置的定位装置
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摘要
A first calculator calculates relative position and attitude of a vehicle based on images captured by an image capturing apparatus on the vehicle. A second calculator extracts one marker from a captured image, calculates absolute position and attitude of the vehicle based on a position and an attitude of the one extracted marker, and calculates an angle of a direction of the vehicle 1 with respect to a normal line to a plane of the one marker 4 based on a position and an attitude of the vehicle 1 in a marker coordinate system. A corrector generates a corrected position and attitude, not using the absolute position and attitude calculated based on the marker for which the angle is not larger than a first threshold, but using the absolute position and attitude calculated based on the marker for which the angle is larger than the first threshold.
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