To allow a user to grasp a three-dimensional position and attitude of a flying body with a small number of light sources even in such an environment that it is difficult to receive a GPS signal or an environment that it is difficult for a large device to enter.SOLUTION: A three-dimensional position and attitude measurement device for calculating the spatial position and attitude of a flying body having at least one light source comprises: an imaging unit which generates an image by imaging a scene including a flying body; an extraction unit which extracts the light emission mode of at least one light source from the image generated by the imaging unit; and a calculation unit which calculates the three-dimensional position and attitude of the flying body on the basis of the two-dimensional coordinates in the image of at least one light source and the light emission mode extracted by the extraction unit.SELECTED DRAWING: Figure 1
【課題】GPS信号の受信が困難な環境や、大型の装置が進入することの困難な狭い環境においても、少ない数の光源によって飛行体の3次元位置・姿勢を把握することを可能とする。【解決手段】本発明の一態様に係る3次元位置・姿勢計測装置は、少なくとも1つの光源を有する飛行体の空間的な位置及び姿勢を算出する3次元位置・姿勢計測装置であって、飛行体を含むシーンを撮像することにより画像を生成する撮像部と、撮像部により生成された画像から、少なくとも1つの光源の発光態様を抽出する抽出部と、少なくとも1つの光源の画像における2次元座標と、抽出部により抽出された発光態様に基づいて、飛行体の3次元位置及び姿勢を算出する算出部と、を備える。【選択図】図1
FLYING BODY, THREE-DIMENSIONAL POSITION AND ATTITUDE MEASUREMENT DEVICE, AND THREE-DIMENSIONAL POSITION AND ATTITUDE MEASUREMENT METHOD
飛行体、3次元位置・姿勢計測装置、及び3次元位置・姿勢計測方法
02.08.2021
Patent
Elektronische Ressource
Japanisch
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