| 摘要 |
PROBLEM TO BE SOLVED: To provide a multi-viewpoint robot camera system which can perform depth adjustment easily.SOLUTION: A multi-viewpoint robot camera system 100 comprises: an operation interface section 10 which calculates a depth value which is changed nonlinearly, from an encoder value; a camera calibration section 20 which calculates a camera parameter by a camera calibration; a master camera control section 30 which controls a master camera MC; a gazing point calculation section 40 which calculates a rotation matrix on the basis of the difference between a camera posture at the time of camera calibration and a camera posture at the time of imaging, and calculates a position of the gazing point by adding a translation matrix to the product of a depth value and a vector of a depth component included in the rotation matrix; and a slave camera control section 50 which controls the slave camera SC so as to face the gazing point. |
