MAP GENERATING METHOD FOR MAKING CAMERA IMAGE CORRESPOND TO REAL SPATIAL COORDINATE, MAP GENERATING APPARATUS FOR MAKING CAMERA IMAGE CORRESPOND TO REAL SPATIAL COORDINATE, AND PROGRAM AND RECORDING MEDIUM

摘要

PROBLEM TO BE SOLVED: To provide a map generating method for making camera image correspond to real spatial coordinate more suitable for real-time processing, by finding a position of an object by high-speed calculation. SOLUTION: The method comprises the steps of: arranging a square pattern on a floor in a real space to be corresponded; determining real spatial coordinate of a position in which the square pattern exists; photographing the real space including the arranged square pattern; detecting image coordinates of four tops of the square pattern in the photographed image; calculating positions of vanishing points of two straight lines passing the image coordinates of the tops; and generating corresponding map images in which real spatial coordinates for all of the pixels in the photographed image are described based on the number of the calculated vanishing points. COPYRIGHT: (C)2004,JPO