| 摘要 |
<P>PROBLEM TO BE SOLVED: To precisely measure a global coordinate of an object under a bad condition in which GPS cannot be used. <P>SOLUTION: A stereo camera 1 takes the image of the object, and a GPS receiver 3 and an inertial sensor 2 detect the global coordinate and attitude angle of the camera 1. A main controller 4 determines the local coordinate of the object with the camera 1 as the origin, determines a coordinate transformation expression from the global coordinate and attitude angle of the camera 1, and transforms the local coordinate of the object to a global coordinate by the coordinate transformation expression. When the detection data of the GPS receiver 3 and the inertial sensor 2 are not usable, the main controller 4 inputs the global coordinate of a reference point selected within the taken image, which is separately acquired, and calculates the global coordinate and attitude angle of the camera 1 from the global coordinate of the reference point and the taken image to determine the coordinate transformation expression. <P>COPYRIGHT: (C)2005,JPO&NCIPI |
