| 摘要 |
PURPOSE:To obtain three dimensional information from a straight line, a curving line and a plane to a curved surface necessary for actual process by obtaining a spherical plane mapping function corresponding to a mapping point and an intersection point at which photographed image intersect in respective photographing position, generating the spherical plane mapping function including both points which correspond in the respective photographing positions and extracting the three dimensional information of the photographed image based on the obtained intersecting points. CONSTITUTION:The moving direction of a camera is set as a vector V. Supposing that a point P looks moving like P<0>, P<1>, P<2>... every time the camera is made to proceed by DELTAx0, the projected points on a spherical plane are set as Sh<0>, Sh<1>, Sh<2>.... There is a point SIGMA in the direction perpendicular to the edge point (v) of the vector V. A time base (tau axis) is set on one fourth of a circumference from the point SIGMA to the point (v) of a large circle passing the point (v) and the point SIGMA and the point SIGMA is set as tau=0, namely as a point T<0>. A point whose arc whose arc length from the point P<0> is tau=tan<-1> (ieta), i=1,2... is set as a point T<i>. Now, eta=DELTAX0/R0 and R0 is an optional value called a distance coefficient and also the point (v) is the point at infinity of the tau axis. If the point t<i> and the point Sh<i> are combined with a large circle as for i=0, 1, 2identicalv, the large circles intersect at one point Q. Thus, the distance from the first position T<0> of the camera to the point P is given as R0 tan (the length of the arc T<0>Q).
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