| 摘要 |
PROBLEM TO BE SOLVED: To create a contour function database for a subject object with the minimum amount of data by the use of an appropriate database system, and to provide an estimation method for an image of three-dimensional position attitude using a contour function which can realize acceleration of attitude estimation speed, and improve the accuracy of attitude estimation. SOLUTION: Various attitudes of the subject object to which rendering is carried out in a CAD space are made agreement with camera optical axes, and rotation of predetermined one shaft is changed as an initial Euler angle. A correlation value of these and camera images of the subject object picked up with the camera is computed using fast Fourier transform. The attitude having the highest correlation value among the various attitudes of the subject object to which the rendering is carried out in the CAD space is presumed as a three-dimensional attitude of the subject object in a real space. COPYRIGHT: (C)2005,JPO&NCIPI
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