慣性座標系とM配列を用いる対象物追尾法

抄録

This paper is to present a method for tracking an object by processing the image from a camera, whose attitude is controlled in inertial space with inertial coordinate system. In order to recognize the object, an M-array pattern is attached on the object and it is observed by a camera which is controlled on inertial coordinate system by inertial stabilization unit. As the attitude of the camera is detected by gyroscope and servo accelerometer of inertial stabilization unit, the image of M-array is observed in inertial coordinate system. Standard M-array is made from the photographed image by using camera of inertial coordinate basis. Taking the cross-correlation function between the observed image and the standard M-array image, we can recognize the angle position of the object from the gap between the peaks of the correlation function. We can obtain the line of sight angle of object on inertial coordinate system by adding the attitude angle of the camera and the angle position of the object. This line of sight angle is used for controlling attitude of camera on inertial stabilization unit. Thus the camera can follow up the object without being affected by attitude of carrier on which the inertial stabilization unit is equipped.