| 摘要 |
PROBLEM TO BE SOLVED: To uniquely decide a camera parameter to show the position attitude of a camera by acquiring the images of three marks existing within a prescribed plane through the camera, acquiring the image coordinates of those marks and then calculating and outputting a parameter to decide the camera position attitude based on the depth information on three marks and the image coordinates acquired from these depth information. SOLUTION: A camera parameter deciding device consists of an estimation module, a coordinate detection module and a parameter estimation module. The image coordinates of three land marks are acquired together with the depth information up to the land marks and a matrix U of C'=U'.W'-1 is acquired. Thus, the camera position is decided in AR (augmented reality). The camera parameter matrices U' and W' are shown in expressions I and II. In these expressions, the image coordinates of three marks are shown in (x1, y1), (x2, y2) and (x3, y3) with the depth information on the marks shown in z1, z2 and z3 and the world coordinate value of the marks shown in (XW1 YW1, O), (XW2, YW2, O) and (XW3, YW3 and O) respectively.
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