| 摘要 |
PROBLEM TO BE SOLVED: To provide an inexpensive and compact position measuring method by zooming control using a monocular lens optimum for an autonomously moving robot. SOLUTION: The image of a measuring object tracked while searching for it with the zoom control is acquired in three-dimensional coordinates using the photosensitive face as the origin, the position of a measuring object is measured according to the principle of a triangulation method by parallax based on the data of the acquired image, and the measured data is stored and processed. The measuring object is thereby easily confirmed visually even when it is a similar pattern, by applying a tracking technique for a measuring point due to close observation, even when applied to a moving measuring subject such as the robot, the image is surely acquired and processed in the three-dimensional coordinates using the photosensitive face as the origin, a plurality of cameras is not required to be installed, a camera parameter is not required to be regulated, and only one camera equipped with a zoom function is enough to be used, so as to allow simplification in view point of a facility and size reduction. COPYRIGHT: (C)2004,JPO&NCIPI |
