| 摘要 |
PURPOSE:To derive the center position and the radius of a circular object by photographing the circular object with a camera, and utilizing the position of a contour and direction information by using the contour picture of the circular object. CONSTITUTION:By photographing a circular object A with the camera, the gradient of density of the contour picture of the circular object is derived, and also, a tangential vector (e) being vertical to the gradient is derived. Subsequently, while bringing the camera to translation, a tangential vector of a circle in a three-dimensional space is derived. A vector being perpendicular to this tangential vector group is set as an azimuth vector W of a plane including the circle. Next, an accumulation intersection A' of a normal group of the tangential vector on a plane pi being perpendicular to the azimuth vector W is derived. Thereafter, a center position A (rho, theta) of the circular object A being an cumulation intersection in plural different camera positions is derived. Moreover, the radius of the circle is derived from a radial histogram related to the circle centering around the accumulation intersection A' is derived, and by a proportional distribution, the radius (r) of the circle A is derived. In such a manner, the position, the attitude and the dimension of the circular object can be measured. |
