| 摘要 |
Method and apparatus for measuring the position and posture of an object. Projection points obtained by projecting one of the graphic elements of an object of measurement onto one point on a predetermined plane or a quadratic surface with a camera being positioned at the center of projection are determined for a plurality of camera positions obtained by moving the camera in a predetermined direction in order to determine a line of moving points on the intersection between a plane containing the predetermined centers of projection corresponding to the camera positions and the predetermined plane or quadratic surface, and a line of reference points arranged on the intersection between one plane passing through the centers of projection and the plane or quadratic surface, sharing one point with the line of moving points and having an equal cross ratio is prepared. Then, each of the points of the line of moving points and each of the points of the line of reference points that correspond to each other are connected mutually by the intersection between the plane containing corresponding points and the predetermined centers of projection and the predetermined plane or quadratic surface so as to obtain the points of intersection of these intersections, and geometric data relating to the graphic elements of the object of measurement with reference to the camera positions in a three-dimensional space are obtained on the basis of the positions of the points of intersection. |
