| 摘要 |
<P>PROBLEM TO BE SOLVED: To simplify procedure required for estimating position attitude of an object to be measured having a complicated shape. <P>SOLUTION: This position attitude measuring device for measuring the relative position attitude between an imaging device for imaging an object to be measured and the object to be measured extracts the component faces of the object to be measured based on the three-dimensional model data of the object to be measured, and extracts a segment for measurement to be used for detecting the edge of a picked-up image from the segments forming the component faces. The position attitude measuring device projects the extracted segments for measurement on the estimated position attitude of the imaging device based on the position attitude, selects segments for measurement not concealed by the extracted component faces, and calculates the relative position attitude of the imaging device and the object to be measured based on the selected segments for measurement and the corresponding edge of the picked-up image. <P>COPYRIGHT: (C)2009,JPO&INPIT |
