| 摘要 |
PROBLEM TO BE SOLVED: To provide a method for monitoring the motion (position, angle) of an object which is attached with a marker having no discrimination information. SOLUTION: A pair of cameras 12 and 14 for stereo-viewing an object are placed. Marker groups 18 with 4 or more turnable markers are attached and coordinates of each marker are defined on an object fixed coordinates system. Three markers with a position relation not forming a regular triangle when connecting the three markers are turned on as markers for searching. Based on geometrical prediction, correlation of marker images for searching making pairs between images is formed. For the three markers for searching, absolute coordinates are calculated and distance between the markers for searching is calculated. The markers are discriminated for identifying which of marker groups 18 the three markers for searching belong. Based on the absolute coordinates of the markers for searching and the coordinates on the object fixed coordinates system, the position and the angle of the object are identified. COPYRIGHT: (C)2007,JPO&INPIT
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