| 摘要 |
PROBLEM TO BE SOLVED: To stably detect the recognition of symmetry and the variation of a situation based on the movement of a recognizing object by arranging a camera so as to set the optical axis direction of a camera at a maximum angle within a settable range with respect to the direction of a plane regulated in the moving direction of the recognizing object. SOLUTION: In the case of initializing a coordinate form so as to set the optical axis of a camera to be a Z axis, an image pickup surface to be an x-y plane and an origin to be the center of the optical axis, as the result of center-projecting motion vectors (P(t), Q(t), R(t)) in the three-dimensional space of a material point P (X, Y, Z), a motion vector (optical flow) becomes (u(t), v(t)). A condition for maximizing the motion vector on the picture under a condition fixing a distance between the camera and the material point and the magnitude of the moving of the recognizing object in the three-dimensional space is R(t)=0. Tin this case, the moving direction of moving component toward the camera is matched with a Z-axis and an image pickup surface direction is reset so as to be in parallel with a plane fixed by two moving components orthogonal with this.
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