| 摘要 |
PROBLEM TO BE SOLVED: To provide a positioning marker capable of accurately estimating the position and posture of an imaging apparatus such as a camera in the wide space of an actual environment though the marker is a single marker.SOLUTION: A positioning marker is constituted by serially arranging multiple elements to make a de Bruijn sequence. When a part of a code is observed, a position in a code is uniquely specified in the de Bruijn sequence. That is, when a part of the positioning marker where multiple elements constitute the de Bruijn sequence is imaged in an image, the position of a part of the marker in a code is specified. Thus, based on the specified position, an image coordinate system and an imaging apparatus coordinate system are aligned to thereby estimate the position and posture of an imaging apparatus. In an example shown in Fig. 1(a), 32 elements are arranged in a line. The arrayal of the elements is the de Bruijn sequence (2=32) where the number of signs is q=2 and a degree is n=5 when black is defined as 0 and white is as 1. |
