| 摘要 |
PROBLEM TO BE SOLVED: To provide a calibration method capable of finding a three-dimensional position of a plurality of receivers serving as references, when finding the three-dimensional position. SOLUTION: This method comprises a first step of reading out a data, wherein the respective three-dimensional positions of the plurality of receivers at respective positions are calculated, using a plurality of ultrasonic transmitters attached to this calibration device, at the plurality of positions where the calibration device with the plurality of ultrasonic transmitters mounted with a prescribed positional relation is moved; a second step of selecting the receiver capable of calculating the three-dimensional position from the plurality of positions out of the receivers, capable of calculating the three-dimensional position in the each position of the plurality of positions; a third step of finding the three-dimensional position of the calibration device by an optimization method, using the specified point as world coordinates, based on three-dimensional position coordinates of the selected receiver to prepare a coordinate transformation matrix; and a fourth step of transforming the position of the receiver, found in the each position, into a world coordinate system, using the coordinate transformation matrix found, so as to be integrated. COPYRIGHT: (C)2005,JPO&NCIPI
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