| 摘要 |
PROBLEM TO BE SOLVED: To measure the position and attitude of an object in a high precision. SOLUTION: The measurement object 130 is mounted with an attitude sensor 140 and at the same time objective view point cameras 180 for imaging the measurement object 130 are installed on fixed points. The index detection part 110 detects the indexes P arranged on the attitude sensor 140 from the images captured by the objective view point camera 180. The attitude estimation part 150 inputs the attitude measurement value from the attitude sensor 140, and estimates the present attitude of the measurement object 130 based on the azimuth drift error correction value. The attitude calculation part 120 calculates the renewal value of the position of the measurement object 130 and the azimuth drift error correction value of the attitude sensor 140 as unknown parameters using the image coordinates of the indexes P detected by the index detection part 110, and calculates the position and attitude of the measurement object 130 using the obtained parameters and outputs them. COPYRIGHT: (C)2006,JPO&NCIPI
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