| 摘要 |
PURPOSE:To execute recognition by one image input part, in the device for recognizing a moving object by an image pickup device. CONSTITUTION:The device is provided with an image input part 1, a feature point extracting part 2 for extracting a feature point, and a shape/motion recognizing means 5 for recognizing a shape and a motion of an object, based on an orthogonal projection onto the image surface in plural time points of plural feature points, the object moves on a plane, the Z axis is determined vertically to the image pickup surface, a known information input part 4 for inputting known information of the feature point is provided, the shape/motion recognizing means 5 is provided with a psi deciding means 5' for deciding an angle psi made by a rotation axis of a rotation of the feature point and the Y axis, and in the case the image input part 1 photographs the object from the oblique direction against the plane, the shape/motion recognizing means 5 has such constitution as the angle psi is inputted, and a value of the Z coordinate of the feature point is derived, based on a two-dimensional coordinate value at plural time points of other feature point at the time when one feature point is fixed to an origin, and a rotation axis direction component (h) of a distance between other feature point and the feature point of the origin, and the angle psi. |
