| 摘要 |
A moving body recognition apparatus for recognising a movement of a moving body by positions of feature points on the moving body, comprising: image input means (15,21,24) for capturing images of the moving body as an object (20); feature point extraction means (16,25) for extracting feature points in the images captured by the image input means; and feature point position storage means (17,26) for storing known position data of extracted feature points; characterised by shape/movement recognition means (18,27) for applying a condition indicating that the object rotates and moves on a single plane, and that the images are captured from a direction perpendicular to an axis of rotation of the object, for calculating a rotation amount of the object around the axis of rotation from the known position data of three feature points of the object each in the images captured at three instants in time, and for calculating actual positions of the feature points of the object (20). <IMAGE> |
