| 摘要 |
PURPOSE: To measure the position, attitude, and kinetic parameter of an object from which no shape information is available by finding the attitude and kinetic parameter of a moving body based on the time sequential positions of the feature points of the body extracted from the picture data of the body. CONSTITUTION: Left and right image input devices 52 and 53 take the picture of a floating body 50, such as an artificial satellite floating in the outer space, dust floating in the air, etc., and respectively input the left and right image data of the body 50 to image processing sections 54 and 55 and the sections 54 and 54 extract the feature points of the image data. A position calculating section 56 correlates the feature points of the left and right image data with each other and finds the position of the body 50 by calculating the distances and directions to the feature points from the devices 52 and 53. A movement identifying section 57 calculates the attitude and kinetic parameters (translational speed, axis of rotation, angular velocity, etc.) of the body 50 based on the time sequential data about the positions of the feature points and outputs the parameter to a display 60 and printer 60' as necessary. When the kinetic parameter of the body 50 is found, the shape of the body 50 can be measured from the time sequential data about the contour of the body 50 on the image surface and the attitude, position, and kinetic parameter of the body 50. |
