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Title:
METHOD AND DEVICE FOR MAKING THREE-DIMENSIONAL VISUAL POSITIONING
Document Type and Number:
Japanese Patent JP3867410
Kind Code:
B2
Abstract:

PROBLEM TO BE SOLVED: To provide a three-dimensional visual positioning method which is not affected by various kinds of errors, such as the noise produced at the time of inputting picture data, quantization error, etc., and can make prescribed detection possible even when such a segment that is originally one segment is divided into two or more segments.
SOLUTION: In a three-dimensional positioning method in which the information on the central point of a circular arc and a segment measured by using a visual sensor, such as the camera, etc., is used for positioning an object, the three-dimensional position and attitude of the object are decided by using the information on the three-dimensional positional relation between the three- dimensional inclination of the segment and the central point of circular arc and segment, to be concrete, the central point A (x3, y3, z3) of circular arc used for positioning, the direction cosine (l1, m1, n1) of the segment used for positioning, and the intersection B (x0, y0, z0) of a perpendicular dropped to the segment or its extension from the point A with the segment.


Inventors:
Toshikazu Onda
Nobuyuki Fujiwara
Application Number:
JP24796898A
Publication Date:
January 10, 2007
Filing Date:
September 02, 1998
Export Citation:
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Assignee:
KABUSHIKI KAISHA MEIDENSHA
International Classes:
G01B11/24; G01B11/245; G06T1/00; G06T7/00; (IPC1-7): G01B11/24; G06T7/00
Domestic Patent References:
JP9212643A
JP7271979A
JP8136220A
JP9288733A
Attorney, Agent or Firm:
Toshiro Mitsuishi
Tadahiro Mitsuishi
Yasuyuki Tanaka