| 摘要 |
PROBLEM TO BE SOLVED: To provide a measuring apparatus for obtaining three-dimensional positional information by determining a most accurate attitude of a camera from a matrix obtained by method of least squares. SOLUTION: A matrix T of the attitude of a camera is determined (S1, S2) by a method of least squares or the like and (n) rotational angles (ψn,θn,ϕn) of the camera are determined (S3) from the matrix. Subsequently, a matrix T' turned by Euler's angle is determined (S4) from that rotational angle and the sum of absolute difference of each element between the matrixes T and T' is determined (S5) as a difference S. A rotational angle for minimizing the difference S is outputted (S6) as the attitude of camera.
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