| 摘要 |
<P>PROBLEM TO BE SOLVED: To specify the locations and attitudes not only of an imaging means but also of a mobile body from images acquired by imaging a light pattern projected to a monitoring region. <P>SOLUTION: The proscribed light pattern LP is projected onto a specific plane FS by a light pattern projecting means LT while the mobile body is being moved. From among images imaged by the imaging means CD, at least four characteristic points in the light pattern LP 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 not only of the imaging means CD but also of the mobile body are specified according to the plane coordinates of the characteristic points of the images imaged in the first and second state by a moving state specifying means MB. <P>COPYRIGHT: (C)2004,JPO&NCIPI |
