AZIMUTH ANGLE COMPUTING METHOD OF IMAGING APPARATUS AND SYSTEM, ATTITUDE SENSOR OF IMAGING APPARATUS, TILT SENSOR OF IMAGING DEVICE AND COMPUTER PROGRAM AND THREE-DIMENTIONAL MODEL CONFIGURATION DEVICE

摘要

PROBLEM TO BE SOLVED: To make a sensor for obtaining a yaw angle unnecessary and obtain the yaw angle more accurately than the conventional general sensor of comparatively low cost for obtaining a yaw angle by obtaining an azimuth angle i.e., a yaw angle of an imaging apparatus from computing, only by obtaining a tilt angle of the imaging apparatus, i.e., roll angle and a pitch angle. SOLUTION: A tilt angle (roll angle and pitch angle) of a camera 1 is obtained by a tilt sensor 2. From the obtained tilt angle, horizon is set as a virtual horizontal line on an imaging face of a camera 1. On the imaging face S of an image picked up with the camera 1, an actual horizontal line L1is established on the basis of information expressing an actual horizontal segment L. On the basis of a formula expressing relation on the imaging face S of the horizon and the actual horizontal line L1, deviation with the direction of the actual horizontal segment L is obtained as an azimuth angle (yaw angle) of the camera 1. COPYRIGHT: (C)2004,JPO