IMAGE PROCESSING DEVICE, IMAGE PROCESSING METHOD, AND PROGRAM THEREFOR

摘要

The position and the attitude of a device or a member are determined. A camera 115, in which exterior orientation parameters are not determined, is photographed by a camera 113, in which exterior orientation parameters in an IMU coordinate system are determined. The camera 115 is rotatable around a shaft, in which the direction of the rotational shaft is preliminarily set, and a distance between the camera 113 and the camera 115 is known. In this condition, by analyzing the image of the camera 115 photographed by the camera 113, the exterior orientation parameters of the camera 115 are calculated.

主权项

1. An image processing device comprising:
an image data receiving circuit having a structure that receives data of an image that is obtained by photographing a device or a member, in which exterior orientation parameters in a predetermined coordinate system are unknown, with a reference camera in which exterior orientation parameters in the predetermined coordinate system are determined; and an exterior orientation parameter calculating circuit having a structure that calculates the exterior orientation parameters in the predetermined coordinate system of the device or the member based on the photographed image, wherein the device or the member is rotatable around a rotation shaft which is in a predetermined direction, and the exterior orientation parameters in the predetermined coordinate system of the device or the member are calculated after a distance between the reference camera and the device or the member is determined.