JP2008107085A - Camera position attitude detector - Google Patents

Camera position attitude detector Download PDF

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Publication number
JP2008107085A
JP2008107085A JP2006287125A JP2006287125A JP2008107085A JP 2008107085 A JP2008107085 A JP 2008107085A JP 2006287125 A JP2006287125 A JP 2006287125A JP 2006287125 A JP2006287125 A JP 2006287125A JP 2008107085 A JP2008107085 A JP 2008107085A
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Prior art keywords
camera
shaped
jig
orientation
orientation detection
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Inventor
Nobuyuki Fujiwara
伸行 藤原
Makoto Niwakawa
誠 庭川
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Meidensha Corp
Meidensha Electric Manufacturing Co Ltd
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Meidensha Corp
Meidensha Electric Manufacturing Co Ltd
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<P>PROBLEM TO BE SOLVED: To provide a camera position attitude detector capable of detecting the position and attitude of each of a plurality of cameras installed for picking up a wide range of measurement objects as three-dimensional measurement objects by image processing. <P>SOLUTION: This detector comprises a camera position attitude detecting means equipped with three or more prisms 3 which are measurement objects, a camera fixing means with which the cameras 11 can be installed on the camera position attitude detecting means, and the cameras 11 installed on the camera fixing means. The prism 3 detects the position and attitude of the cameras 11 by measuring the positions by a measurement instrument 12 and determining the coordinate system of the cameras 11 from the position data of the prism 3. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

本発明は、カメラ位置姿勢検出装置に関する。   The present invention relates to a camera position and orientation detection apparatus.

三次元計測の対象となる計測対象物を設置する作業台に特別なテーブルを設置し、そのテーブルを撮像した画像を処理することにより、計測対象物を撮像するカメラの位置と姿勢を計測する方法が知られている。この方法は、作業台に特別なテーブルを設置し、そのテーブルを撮像した画像を処理してカメラの位置と姿勢を計測していることから、テーブルを設置してテーブルを含めた計測対象物の画像を撮像するだけで良く、手軽に高精度なカメラの位置と姿勢のデータを得ることができる。このような技術の一例が下記特許文献１に開示されている。   A method of measuring the position and orientation of a camera that captures a measurement object by installing a special table on the work table on which the measurement object that is the target of three-dimensional measurement is installed and processing the image obtained by capturing the table It has been known. In this method, a special table is installed on the work table, and the position and orientation of the camera are measured by processing an image obtained by imaging the table. It is only necessary to capture an image, and highly accurate camera position and orientation data can be obtained easily. An example of such a technique is disclosed in Patent Document 1 below.

また、カメラに測量器をジグで固定し、測量器の位置姿勢データとカメラ固定ジグの設計データからカメラの位置と姿勢を検出する方法が知られている。この方法は、カメラに測量器をジグで固定し、測量器の位置姿勢データとカメラ固定ジグの設計データから、撮像場所におけるカメラの位置と姿勢のデータを高精度に得ることができることから、カメラと測量器のセットを持ち運びながら広範囲に亘る計測対象物を撮像する場合に有利である。このような技術の一例が下記非特許文献１に開示されている。   Also, a method is known in which a surveying instrument is fixed to a camera with a jig, and the position and orientation of the camera are detected from the position and orientation data of the surveying instrument and the design data of the camera fixing jig. In this method, the surveying instrument is fixed to the camera with a jig, and the position and orientation data of the camera at the imaging location can be obtained with high accuracy from the position and orientation data of the surveying instrument and the design data of the camera fixing jig. It is advantageous when imaging a measurement object over a wide range while carrying a set of surveying instruments. An example of such a technique is disclosed in Non-Patent Document 1 below.

特願平８−２１３９５９号公報Japanese Patent Application No. 8-213959 藤原信行、外６名、「ステレオ画像を使用する地形形状システム」、電学論、２００２、Ｃ，１２２巻、６号、ｐ９５０−９５５Nobuyuki Fujiwara, 6 others, “Topographical shape system using stereo images”, Denki Theory, 2002, C, Vol. 122, No. 6, p950-955

しかしながら、上記特許文献１に開示される方法では、計測対象物は作業台に載置できる程度のサイズでなければならず、広範囲に亘る計測対象物に対応するためには、広範囲にテーブルを設置する必要があるため、現実的な方法とは言えない。また、テーブルを設置するため、一旦計測対象物を計測場所から退避させる必要があるが、それができない場合、テーブルを設置することができないため、カメラの位置と姿勢のデータを得ることができない。   However, in the method disclosed in Patent Document 1, the measurement object must be of a size that can be placed on a workbench, and in order to support a wide range of measurement objects, a table is installed over a wide area. This is not a realistic method. Further, in order to install the table, it is necessary to temporarily evacuate the measurement object from the measurement location. However, if this is not possible, the table cannot be installed, and the camera position and orientation data cannot be obtained.

また、上記非特許文献１に開示される方法では、複数台のカメラを設置して広範囲に亘る計測対象物を定点観測するような用途においては、カメラと測量器のセットがカメラの設置場所ごとに複数必要となるため、測量器が高価なこともあり大幅なコスト高となってしまう。   Further, in the method disclosed in Non-Patent Document 1, in a case where a plurality of cameras are installed and a measurement object over a wide range is observed at a fixed point, a set of cameras and surveying instruments is provided for each installation location of the cameras. Therefore, the surveying instrument is expensive and the cost is greatly increased.

これらのことから、本発明は、画像処理による三次元計測の対象となる広範囲に亘る計測対象物の撮像を行うために設置された複数台のカメラについて、それぞれのカメラの位置と姿勢を検出することができるカメラ位置姿勢検出装置を提供することを目的とする。   For these reasons, the present invention detects the position and orientation of each of a plurality of cameras installed in order to image a wide range of measurement objects to be subjected to three-dimensional measurement by image processing. It is an object of the present invention to provide a camera position / orientation detection apparatus capable of performing the above.

上記の課題を解決するための第１の発明（請求項１に対応）に係るカメラ位置姿勢検出装置によれば、
測量対象であるプリズムを３つ以上備えるカメラ位置姿勢検出手段と、
前記カメラ位置姿勢検出手段にカメラを設置することが可能なカメラ固定手段と、
前記カメラ固定手段に設置されるカメラと
を備え、
前記プリズムは、測量器によって位置を計測され、前記プリズムの位置データからカメラの座標系を求めることでカメラの位置と姿勢を検出する
ことを特徴とする。 According to the camera position and orientation detection apparatus according to the first invention (corresponding to claim 1) for solving the above-described problems,
Camera position and orientation detection means comprising three or more prisms to be surveyed;
Camera fixing means capable of installing a camera in the camera position and orientation detection means;
A camera installed on the camera fixing means,
The position of the prism is measured by a surveying instrument, and the position and orientation of the camera are detected by obtaining a coordinate system of the camera from position data of the prism.

上記の課題を解決するための第２の発明（請求項２に対応）に係るカメラ位置姿勢検出装置によれば、第１の発明に係るカメラ位置姿勢検出装置において、
前記カメラ位置姿勢検出手段は、Ｔ字型の棒の先端にそれぞれプリズムを設置したＴ字型ジグとし、
前記カメラ固定手段は、前記Ｔ字型ジグのＴ字の交差部にカメラを設置することが可能なＴ字型カメラ固定ジグとする
ことを特徴とする。 According to the camera position and orientation detection apparatus according to the second invention (corresponding to claim 2) for solving the above problems, in the camera position and orientation detection apparatus according to the first invention,
The camera position and orientation detection means is a T-shaped jig in which a prism is installed at the tip of a T-shaped bar,
The camera fixing means is a T-shaped camera fixing jig capable of installing a camera at a T-shaped intersection of the T-shaped jig.

上記の課題を解決するための第３の発明（請求項３に対応）に係るカメラ位置姿勢検出装置によれば、第１の発明に係るカメラ位置姿勢検出装置において、
前記カメラ位置姿勢検出手段は、十字型の棒の先端にそれぞれプリズムを設置した十字型ジグとし、
前記カメラ固定手段は、前記十字型ジグの十字の交差部にカメラを設置することが可能な十字型カメラ固定ジグとする
ことを特徴とする。 According to a camera position and orientation detection apparatus according to a third invention (corresponding to claim 3) for solving the above problems, in the camera position and orientation detection apparatus according to the first invention,
The camera position and orientation detection means is a cross-shaped jig in which a prism is installed at the tip of a cross-shaped bar,
The camera fixing means may be a cross-shaped camera fixing jig capable of installing a camera at a cross portion of the cross-shaped jig.

本願発明によれば、広範囲の空間に複数台設置したカメラの位置と姿勢の検出を行うことができる。また、特別なテーブルを計測対象物に設置する必要がないため、カメラの位置と姿勢の検出のために、計測対象物を一旦退避させる必要がない。さらに、カメラの位置と姿勢を検出するため、それぞれのカメラに高価な測量器等を取付ける必要が無く、安価なプリズム付きのジグをカメラごとに用意するだけでよいため、カメラの位置と姿勢を検出するためのコストを低く抑えることができる。   According to the present invention, it is possible to detect the position and orientation of a plurality of cameras installed in a wide space. In addition, since it is not necessary to install a special table on the measurement object, it is not necessary to temporarily retract the measurement object in order to detect the position and orientation of the camera. Furthermore, in order to detect the position and orientation of the camera, it is not necessary to attach an expensive surveying instrument to each camera, and it is only necessary to prepare a jig with an inexpensive prism for each camera. The cost for detection can be kept low.

本発明に係るカメラ位置姿勢検出装置の実施例について、図１から図６を用いて説明する。図１はＴ字型カメラ固定ジグの斜視図、図２は測量器によりプリズムの位置を計測する図、図３はＴ字型カメラ固定ジグの位置データとカメラ座標系との関係を表す図、図４は十字型カメラ固定ジグの斜視図、図５は十字型カメラ固定ジグの位置データとカメラ座標系との関係を表す図、図６は複数台のカメラにより広範囲な計測対象物を撮像する図である。   An embodiment of a camera position / orientation detection apparatus according to the present invention will be described with reference to FIGS. FIG. 1 is a perspective view of a T-shaped camera fixing jig, FIG. 2 is a diagram for measuring the position of a prism by a surveying instrument, and FIG. 3 is a diagram showing a relationship between position data of the T-shaped camera fixing jig and a camera coordinate system. 4 is a perspective view of the cross-shaped camera fixing jig, FIG. 5 is a diagram showing the relationship between the position data of the cross-shaped camera fixing jig and the camera coordinate system, and FIG. 6 images a wide range of measurement objects using a plurality of cameras. FIG.

本実施例は、図６に示すように、三次元計測の対象となる広範囲に亘る計測対象物１０の撮像を行うために設置された複数台のカメラ１１について、それぞれのカメラ１１の位置と姿勢を検出することが可能なカメラ位置姿勢検出装置１（図１，３参照）を提供することを目的としている。   In this embodiment, as shown in FIG. 6, with respect to a plurality of cameras 11 installed for imaging a measurement object 10 over a wide range, which is a target of three-dimensional measurement, the position and orientation of each camera 11. An object of the present invention is to provide a camera position / orientation detection apparatus 1 (see FIGS. 1 and 3) capable of detecting the above.

図１に示すように、本実施例に係るカメラ位置姿勢検出装置１では、カメラ１１の位置と姿勢を検出するため、Ｔ字型のジグ（以下、Ｔ字型ジグ２という）を用い、Ｔ字型ジグ２（カメラ位置姿勢検出手段）の棒の先端にプリズム３を設置し、Ｔ字型ジグ２のＴ字の交差点ｐ０にカメラ１１を設置するＴ字型カメラ固定ジグ４（カメラ固定手段）を設置する。カメラ１１はＴ字型カメラ固定ジグ４に設置する。   As shown in FIG. 1, the camera position / orientation detection apparatus 1 according to this embodiment uses a T-shaped jig (hereinafter referred to as a T-shaped jig 2) to detect the position and orientation of the camera 11, and T A prism-shaped jig 2 (camera position / orientation detecting means) is provided with a prism 3 at the tip of a rod, and a camera 11 is installed at a T-shaped intersection p0 of the T-shaped jig 2 (camera fixing means). ). The camera 11 is installed on the T-shaped camera fixing jig 4.

図２に示すように、測量器１２によってＴ字型ジグ２の棒の先端に設置されたプリズム３の位置を計測する。図３に示すように、測量器１２（図２参照）による計測により、各プリズム３の位置がｐ１、ｐ２、ｐ３として求められ、これらｐ１、ｐ２、ｐ３とＴ字型ジグ２の設計データとに基きＴ字型ジグ２のＴ字の交差点ｐ０の位置を求める。また、図３中にΣｃで示すように、カメラ１１の座標系であるカメラ座標系Σｃを予め設定してお
く。 As shown in FIG. 2, the position of the prism 3 installed at the tip of the bar of the T-shaped jig 2 is measured by the surveying instrument 12. As shown in FIG. 3, the position of each prism 3 is obtained as p1, p2, and p3 by measurement by the surveying instrument 12 (see FIG. 2). The design data of these p1, p2, and p3 and the T-shaped jig 2 Based on the above, the position of the T-shaped intersection p0 of the T-shaped jig 2 is obtained. Further, as indicated by Σc in FIG. 3, a camera coordinate system Σc that is a coordinate system of the camera 11 is set in advance.

まず、カメラ１１の姿勢をカメラ座標系Σｃの各座標軸の方向ベクトルを計算すること
により求める。カメラ座標系ΣｃのＸ軸の方向ベクトルは、点ｐ２から点ｐ１への方向ベ
クトルとして求められ、各成分を次式（数１）により計算される。ここで、ＬXは点ｐ２から点ｐ１までの距離である。
（数１）
［Ｘ１−Ｘ２ Ｙ１−Ｙ２ Ｚ１−Ｚ２］T／Ｌｘ First, the posture of the camera 11 is obtained by calculating the direction vector of each coordinate axis of the camera coordinate system Σc. The X-axis direction vector of the camera coordinate system Σc is obtained as a direction vector from the point p2 to the point p1, and each component is calculated by the following equation (Equation 1). Here, L X is the distance from the point p2 to the point p1.
(Equation 1)
[X1-X2 Y1-Y2 Z1-Z2] T / Lx

また、カメラ座標系ΣｃのＹ軸の方向ベクトルは、交差点ｐ０から点ｐ３への方向ベク
トルとして求められ、各成分を次式（数２）により計算される。ここで、Ｌｙは交差点ｐ０から点ｐ３までの距離である。
（数２）
［Ｘ３−Ｘ０ Ｙ３−Ｙ０ Ｚ３−Ｚ０］T／Ｌｙ Also, the Y-axis direction vector of the camera coordinate system Σc is obtained as a direction vector from the intersection p0 to the point p3, and each component is calculated by the following equation (Equation 2). Here, Ly is the distance from the intersection p0 to the point p3.
(Equation 2)
[X3-X0 Y3-Y0 Z3-Z0] T / Ly

さらに、カメラ座標系ΣｃのＺ軸の方向ベクトルを、Ｘ軸の方向ベクトルからＹ軸の方
向ベクトルへの外積として求める。
最後に、カメラ１１の位置を、カメラ座標系Σｃの原点位置Ｏを計算することで求める
。これは、Ｔ字型ジグ２のＴ字の交差点ｐ０に対して、Ｔ字型カメラ固定ジグ４の設計データより得られるＴ字型ジグ２の交差点ｐ０からカメラ座標系Σｃの原点位置Ｏまでのオ
フセット位置データＶOFFを加算することで計算する。
以上の手順により、カメラ１１の位置と姿勢を検出する。 Further, the Z-axis direction vector of the camera coordinate system Σc is obtained as an outer product from the X-axis direction vector to the Y-axis direction vector.
Finally, the position of the camera 11 is obtained by calculating the origin position O of the camera coordinate system Σc. This is from the intersection p0 of the T-shaped jig 2 obtained from the design data of the T-shaped camera fixing jig 4 to the origin position O of the camera coordinate system Σc with respect to the T-shaped intersection p0 of the T-shaped jig 2. Calculation is performed by adding the offset position data V OFF .
The position and posture of the camera 11 are detected by the above procedure.

このように、本実施例に係るカメラ位置姿勢検出装置１によれば、Ｔ字型ジグ２にＴ字型カメラ固定ジグ４と共にカメラ１１を設置することにより、カメラ１１の位置計測のための測量器１２（図２参照）を１台用意するのみで、広範囲に複数台設置されたカメラ１１の位置と姿勢の検出を低コストで実現することができる。   As described above, according to the camera position / orientation detection apparatus 1 according to the present embodiment, the camera 11 is installed together with the T-shaped camera fixing jig 4 on the T-shaped jig 2 to measure the position of the camera 11. By preparing only one unit 12 (see FIG. 2), it is possible to realize the detection of the position and orientation of the cameras 11 installed in a wide range at a low cost.

図４に示すように、本実施例に係るカメラ位置姿勢検出装置１では、実施例１に示したカメラ位置姿勢検出装置１においてＴ字型ジグ４（図１参照）を用いる替わりに、十字型のジグ（以下、十字型ジグ５という）の棒の先端にプリズム３を設置する。また、十字型ジグ５（カメラ位置姿勢検出手段）の十字の交差点ｐ０にカメラ１１を設置する十字型カメラ固定ジグ６（カメラ固定手段）を用意して、カメラ１１をこの十字型カメラ固定ジグ６に設置する。   As shown in FIG. 4, in the camera position / orientation detection apparatus 1 according to the present embodiment, instead of using the T-shaped jig 4 (see FIG. 1) in the camera position / orientation detection apparatus 1 shown in the embodiment 1, a cross shape is used. The prism 3 is installed at the tip of a rod of the jig (hereinafter referred to as a cross-shaped jig 5). Also, a cross-shaped camera fixing jig 6 (camera fixing means) for installing the camera 11 is prepared at the crossing point p0 of the cross-shaped jig 5 (camera position / orientation detection means). Install in.

そして、測量器１２（図２参照）により十字型ジグ５の棒の先端に設置されたプリズム３の位置を計測することでカメラ１１の位置と姿勢を検出する。なお、本実施例に係るカメラ位置姿勢検出装置１は、十字型ジグ５と十字型カメラ固定ジグ６を用いること以外は、実施例１に示したカメラ位置姿勢検出装置１とほぼ同様である。   Then, the position and orientation of the camera 11 are detected by measuring the position of the prism 3 installed at the tip of the rod of the cross-shaped jig 5 by the surveying instrument 12 (see FIG. 2). The camera position / orientation detection apparatus 1 according to the present embodiment is substantially the same as the camera position / orientation detection apparatus 1 shown in the first embodiment except that the cross-shaped jig 5 and the cross-shaped camera fixing jig 6 are used.

図５に示すように、各プリズム３の位置をｐ１、ｐ２、ｐ３、ｐ４とし、十字型ジグ５の十字の交差点ｐ０とする。また、図５中にΣｃで示すように、カメラ座標系Σｃを予め
設定しておく。 As shown in FIG. 5, the positions of the prisms 3 are defined as p1, p2, p3, and p4, and are defined as cross intersections p0 of the cross-shaped jig 5. Further, as indicated by Σc in FIG. 5, a camera coordinate system Σc is set in advance.

まず、カメラ１１の姿勢をカメラ座標系Σｃの各座標軸の方向ベクトルを計算すること
で求める。カメラ座標系ΣｃのＸ軸の方向ベクトルは次の３つの組み合わせのいずれかに
より求めることができる。
（１）点ｐ２から点ｐ１への方向ベクトルとして求める。
（２）交差点ｐ０から点ｐ１への方向ベクトルとして求める。
（３）点ｐ２から交差点ｐ０への方向ベクトルとして求める。 First, the posture of the camera 11 is obtained by calculating the direction vector of each coordinate axis of the camera coordinate system Σc. The X-axis direction vector of the camera coordinate system Σc can be obtained by one of the following three combinations.
(1) Obtained as a direction vector from the point p2 to the point p1.
(2) Obtained as a direction vector from the intersection p0 to the point p1.
(3) Obtained as a direction vector from the point p2 to the intersection p0.

また、カメラ座標系ΣｃのＹ軸の方向ベクトルは次の３つの組み合わせのいずれかによ
り求めることができる。
（１）点ｐ４から点ｐ３への方向ベクトルとして求める。
（２）交差点ｐ０から点ｐ３への方向ベクトルとして求める。
（３）点ｐ４から交差点ｐ０への方向ベクトルとして求める。 Also, the Y-axis direction vector of the camera coordinate system Σc can be obtained by any of the following three combinations.
(1) Obtained as a direction vector from the point p4 to the point p3.
(2) Obtained as a direction vector from the intersection p0 to the point p3.
(3) Obtained as a direction vector from the point p4 to the intersection p0.

さらに、カメラ座標系ΣｃのＺ軸の方向ベクトルを、Ｘ軸の方向ベクトルからＹ軸の方
向ベクトルへの外積として求める。
最後に、カメラ１１の位置をカメラ座標系Σｃの原点位置Ｏを計算することで求める。
これは、十字型ジグ５の交差点ｐ０に対して、十字型カメラ固定ジグ６の設計データより得られる十字型ジグ５の交差点ｐ０からカメラ座標系Σｃの原点位置Ｏまでのオフセット
位置データＶOFFを加算することで計算する。
以上の手順により、カメラ１１の位置と姿勢を検出する。 Further, the Z-axis direction vector of the camera coordinate system Σc is obtained as an outer product from the X-axis direction vector to the Y-axis direction vector.
Finally, the position of the camera 11 is obtained by calculating the origin position O of the camera coordinate system Σc.
This is because the offset position data V OFF from the intersection p0 of the cross-shaped jig 5 obtained from the design data of the cross-shaped camera fixing jig 6 to the origin position O of the camera coordinate system Σc is obtained with respect to the intersection p0 of the cross-shaped jig 5. Calculate by adding.
The position and posture of the camera 11 are detected by the above procedure.

このように、本実施例に係るカメラ位置姿勢検出装置１によれば、実施例１に示したカメラ位置姿勢検出装置１の効果に加え、プリズム３の１つが測量器１２（図２参照）から計測しにくい場所にあった場合でも、残りの３つのプリズム３を使ってカメラ１１の位置と姿勢を検出することができる。すなわち、方向ベクトルを上述したように３つの組み合わせのいずれかにより求めることができるため、十字型カメラ固定ジグ６を含めたカメラ１１の設置における自由度を大きくすることができる。また、全てのプリズム３の位置が計測できた場合、方向ベクトルを求める２点間の距離を大きく取ることができるため、より高精度なカメラ１１の位置と姿勢を検出することができる。   As described above, according to the camera position / orientation detection apparatus 1 according to the present embodiment, in addition to the effects of the camera position / orientation detection apparatus 1 shown in the first embodiment, one of the prisms 3 is connected to the surveying instrument 12 (see FIG. 2). Even in a place where it is difficult to measure, the position and orientation of the camera 11 can be detected using the remaining three prisms 3. That is, since the direction vector can be obtained by any one of the three combinations as described above, the degree of freedom in installing the camera 11 including the cross-shaped camera fixing jig 6 can be increased. Further, when the positions of all the prisms 3 can be measured, the distance between the two points for obtaining the direction vector can be increased, so that the position and orientation of the camera 11 can be detected with higher accuracy.

Ｔ字型カメラ固定ジグの斜視図である。It is a perspective view of a T-shaped camera fixing jig. 測量器によりプリズムの位置を計測する図である。It is a figure which measures the position of a prism with a surveying instrument. Ｔ字型カメラ固定ジグの位置データとカメラ座標系との関係を表す図である。It is a figure showing the relationship between the position data of a T-shaped camera fixing jig, and a camera coordinate system. 十字型カメラ固定ジグの斜視図である。It is a perspective view of a cross type camera fixing jig. 十字型カメラ固定ジグの位置データとカメラ座標系との関係を表す図である。It is a figure showing the relationship between the position data of a cross-shaped camera fixing jig, and a camera coordinate system. 複数台のカメラにより広範囲な計測対象物を撮像する図である。It is a figure which images a wide range measurement object with a plurality of cameras.

符号の説明Explanation of symbols

１ カメラ位置姿勢検出装置
２ Ｔ字型ジグ
３ プリズム
４ Ｔ字型カメラ固定ジグ
５ 十字型ジグ
６ 十字型カメラ固定ジグ
１０ 計測対象物
１１ カメラ
１２ 測量器 DESCRIPTION OF SYMBOLS 1 Camera position and orientation detection apparatus 2 T-shaped jig 3 Prism 4 T-shaped camera fixing jig 5 Cross-shaped jig 6 Cross-shaped camera fixing jig 10 Measurement object 11 Camera 12 Surveying instrument

Claims (3)

測量対象であるプリズムを３つ以上備えるカメラ位置姿勢検出手段と、
前記カメラ位置姿勢検出手段にカメラを設置することが可能なカメラ固定手段と、
前記カメラ固定手段に設置されるカメラと
を備え、
前記プリズムは、測量器によって位置を計測され、前記プリズムの位置データからカメラの座標系を求めることでカメラの位置と姿勢を検出する
ことを特徴とするカメラ位置姿勢検出装置。 Camera position and orientation detection means comprising three or more prisms to be surveyed;
Camera fixing means capable of installing a camera in the camera position and orientation detection means;
A camera installed on the camera fixing means,
The position of the prism is measured by a surveying instrument, and the position and orientation of the camera are detected by obtaining a coordinate system of the camera from the position data of the prism. 請求項１に記載のカメラ位置姿勢検出装置において、
前記カメラ位置姿勢検出手段は、Ｔ字型の棒の先端にそれぞれプリズムを設置したＴ字型ジグとし、
前記カメラ固定手段は、前記Ｔ字型ジグのＴ字の交差部にカメラを設置することが可能なＴ字型カメラ固定ジグとする
ことを特徴とするカメラ位置姿勢検出装置。 In the camera position and orientation detection apparatus according to claim 1,
The camera position and orientation detection means is a T-shaped jig in which a prism is installed at the tip of a T-shaped bar,
The camera position and orientation detection apparatus, wherein the camera fixing means is a T-shaped camera fixing jig capable of installing a camera at a T-shaped intersection of the T-shaped jig. 請求項１に記載のカメラ位置姿勢検出装置において、
前記カメラ位置姿勢検出手段は、十字型の棒の先端にそれぞれプリズムを設置した十字型ジグとし、
前記カメラ固定手段は、前記十字型ジグの十字の交差部にカメラを設置することが可能な十字型カメラ固定ジグとする
ことを特徴とするカメラ位置姿勢検出装置。 The camera position and orientation detection apparatus according to claim 1,
The camera position and orientation detection means is a cross-shaped jig in which a prism is installed at the tip of a cross-shaped bar,
The camera position and orientation detection device, wherein the camera fixing means is a cross-shaped camera fixing jig capable of installing a camera at a crossing portion of the cross-shaped jig.
JP2006287125A 2006-10-23 2006-10-23 Camera position attitude detector Pending JP2008107085A (en)

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JP2002010297A (en) * 2000-06-26 2002-01-11 Topcon Corp Stereoscopic image photographing system
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Publication number Priority date Publication date Assignee Title
JP2002010297A (en) * 2000-06-26 2002-01-11 Topcon Corp Stereoscopic image photographing system
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WO2005038395A1 (en) * 2003-09-22 2005-04-28 Leica Geosystems Ag Method and device for determining the actual position of a geodetic instrument
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