| 摘要 |
PROBLEM TO BE SOLVED: To provide a calibration device and method allowing freedom for a photographing position, and a three-dimensional modeling device and system capable of using the same. SOLUTION: A positional relation between a rotary table 10 and a three-dimensional coordinate measuring articulated arm system 40 with a camera is specified by a transformation matrix M<SB>1</SB>from a rotary table coordinate system to an arm reference coordinate system, and a positional relation between a camera installation shaft 20d and a position of the camera 30 is specified by a transformation matrix M<SB>2</SB>from a camera installation coordinate system to a camera coordinate system. The positional relations are calibrated in advance. A transformation matrix M<SB>a</SB>from the arm reference coordinate system for specifying a positional relation between an arm reference joint 18a and a camera installation joint 18c to the camera installation coordinate system is obtained from an arm output data of the three-dimensional coordinate measuring articulated arm system 40. A rotary table-camera transformation matrix M<SB>0</SB>in an optional arm position is calculated pursuant to the calculation expression M<SB>0</SB>=M<SB>2</SB>×M<SB>a</SB>×M<SB>1</SB>. COPYRIGHT: (C)2006,JPO&NCIPI
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