| 摘要 |
A method for measuring a position and an orientation of an object. A sequence of movement points which line up on an intersection line of a predetermined projection surface and a plane which contains a predetermined projection center corresponding to a position of a camera, is obtained by obtaining projected points respectively generated for a plurality of positions of the camera, onto a point on the predetermined projection surface where the camera position is deemed as the projection center. Then, a sequence of reference points which line up on an intersection line of a plane containing the center of projection and the predetermined projection surface, shares a point with the sequence of movement points, and has the same cross ratio (inharmonic ratio) as a cross ratio of the sequence of movement points, is generated. An intersection point of intersection lines which are respectively intersection lines of the predetermined projection surface and planes each containing the center of projection and a pair of corresponding points one of which belongs to the sequence of movement points, and the other of which belongs to the sequence of reference points, is obtained. Then, geometrical information on the image element of the object when using the projection center in the three-dimensional space as a reference position is obtained based on the position of the above intersection point.
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