画像情報を利用した移動体の位置姿勢計測法

概要

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It is important for various 3-D vehicles such as airplanes and spaceplanes to measure their positions and attitudes in order to control themselves ; they need a system which can measure them precisely and easily.<BR>In this paper, a method of measuring vehicle's position and attitude is studied, which uses an onboard-TV camera.<BR>This system consists of a TV camera and a target including multiple reference points, whose positions are known. Image information from TV camera is processed in a microcomputer and the positions of the reference points on the image plane are calculated, and by use of them the relative position and attitude (6 DOF information) of the view point of the TV camera are estimated. The least square method or Kalman filter is used in estimation.<BR>On one hand, it is needed to direct the TV camera to the target in order to get images constantly. In this paper, a control method of tracking the target is studied, too.<BR>An experiment of measurement was conducted with an assembled test system. As the result, it was proven that these methods were useful with high accuracy.
システム制御情報学会の論文