| 摘要 |
PROBLEM TO BE SOLVED: To provide a coordinate transformation parameter determination device capable of improving coordinate transformation accuracy at the time of coordinate transformation of a three-dimensional coordinate of a feature point between a camera coordinate system and a world coordinate system.SOLUTION: A coordinate transformation parameter determination device includes a marker detection part 11 for detecting a plurality of feature points of a marker from each of a first image and a second image, a three-dimensional position determination part 14 which, for each of the plurality of feature points of the marker, calculates a three-dimensional coordinate of a camera coordinate system whose reference is a first point from a position on the first image and a position on the second image, and a coordinate transformation parameter determination part 15 which calculates a coordinate transformation parameter so that a sum of absolute values of error becomes minimum between a three-dimensional coordinate of a world coordinate system which is acquired by performing coordinate transformation with a three-dimensional coordinate of the camera coordinate system of each of the plurality of feature points of the marker by using the coordinate transformation parameter and a three-dimensional coordinate of the world coordinate system of a corresponding feature point among a plurality of feature points of the marker in a real space.SELECTED DRAWING: Figure 3 |
