| 摘要 |
PROBLEM TO BE SOLVED: To provide a method for more speedily and stably calculating the position and direction of an object in the three-dimensional space in comparison with the method using the conventional technology. SOLUTION: This method comprises (a) a step of marking plural feature points on a three-dimensional model and corresponding feature points in a two-dimensional reference image, (b) a step of calculating solutions of four possible three-dimensional rigid body motions of set of three points in the three- dimensional space to all possible subsets of three two-dimensional feature points marked in the step (a) so that three three-dimensional points are exactly mapped to corresponding two-dimensional points under certain determined perspective projection after each of four rigid body motions, (c) a step of calculating error measure to each solution obtained in the step (b) by using a point which is not included in the three points used in the solutions in the two-dimensional reference image, (d) a step of ordering the solutions of the step (c) based on the error measure and (e) a step of selecting the optimal solution based on the order in the step (d). |
