| 摘要 |
<P>PROBLEM TO BE SOLVED: To secure a field of vision at a desired location in a mobile body by highly precisely specifying the location and attitude of the mobile body without error accumulation even by a single imaging means. <P>SOLUTION: A vicinity is imaged by one imaging means CD during movement. From its image, at least four characteristic points in a specific plane are extracted by a characteristic point extracting means PD. The characteristic points extracted when the mobile body is moved from a first state to a second state are tracked by a characteristic point tracking means PF. On the basis of the result of the tracking, the relative locations and attitudes of the imaging means are specified according to a plane coordinate system of the characteristic points of the images imaged in the first and second state by a movement state specifying means MB. On the basis of the locations and attitudes of the imaging means in the first and second state; the plane coordinates of the characteristic points of a prescribed object in the image in the first state; and the plane coordinates corresponding to the characteristic points of the prescribed object in the image in the second state, the three-dimensional coordinates of the characteristic points of the prescribed object are estimated by a three-dimensional coordinate estimating means RC. <P>COPYRIGHT: (C)2004,JPO&NCIPI |
