| 摘要 |
PROBLEM TO BE SOLVED: To provide a technique for tracking, at high speed by using an object model, three-dimensional rigid body motion of a free curved-surface object formed using a smooth curved-surface by using a stereo camera system as a sensor. SOLUTION: A stereo image is inputted (S1), and a tracking point, corresponding to a contour line (silhouette) of the curved-surface object observed by the stereo image, is selected by using a three-dimensional geometric model, based on information on the present position of the object (S2). Corresponding points on the contour line, corresponding to each tracking point are extracted from the stereo image (S3), and three-dimensional coordinates thereof, are measured (S4). Then, position attitude of the object and an error are calculated from pairs of the three-dimensional coordinates between each tracking point and each corresponding point (S5). The error is discriminated (S6), and when the error is not sufficiently small, the detected position attitude is used as a new present position, and processing from (S2) is repeated. When the error is sufficiently small, the detected position attitude is used as the new present position, and processing from (S1) is repeated. |
