Digital archives or VR museums for structures of architectural significance and objects of importance to the World's cultural heritage have recently received more attention. However, there are some issues for effective operation of digital archives or VR museums. These problems include real-time imaging, spatial data aquisition and modelling. In particular, efficient spatial data aquision tecniques in sites should be developed or invetigated.
With this objective, and for multiple applications such as human motion analysis, auto tracking, real-time positioning and so on, Hybrid Video Theodolite (HVT) system was developed by the authors which consists of the 6 parts : sensor, pan head and tilt body, imaging, recording, control and monitor. The most remarkable points of this HVT system are its ability to obtain synchronized stereo image sequences and rotation parameters while tracking a moving object. As for further additional point of this system, automated camera calibration without target can be achived.
This paper describes the HVT system, and investigates the one of applications of this system to 3D modeling of panoramic objects in architecture and archeology.

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Generally, Human motion analysis has been performed under the condition that the camera position and the rotation are fixed. Furthermore, the human motion analysis is performed within the limited space. However, in order to analyze the most natural human motion, limitations for camera and space should be removed.
For this ideal condition, some problems should be resolved. These problems include camera parameters while tracking, real-time imaging, auto tracking moving object, 3D data acquisition, and synchronization of video image sequences and camera rotation parameters while tracking.
With this objective and for multiple applications such as 3D objects modeling and so on, Hybrid Video Theodolite (HVT) system was developed by the authors.
The applications of the HVT system for dynamic analysis of human gait motion are investigated in this paper.

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The change in photogrammetry from analog to digital means a change from film to CCD sensor and real-time imaging became possible. It can be said that the most remarkable point of this change in photogrammetry is acceleration of real-time imaging. There are many kinds of digital still cameras on the market and these have became useful instruments in real-time imaging for stationary objects.
For moving objects, a video camera is utilized since 30 frames are acquired per second. Video camera means 8mm camera; however, an 8mm camera is an analog camera in spite of the fact that a CCD sensor is used. Thus, a change in video camera from analog to digital means a change from analog tape to digital tape and direct transmission of digital image to a computer.
This paper presents the concept of a digital video camera developed by the authors and shows examples obtained through tests.

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Attention is being given to the development of photogrammetry to get information on the exterior orientation parameters, that is to say the position and attitude, of a camera without using any control points. The exterior orientation of a camera could be determined by using GPS and an optical gyro. Such equipment, however, is not widely diffused due to the price aspect.
This paper is the fundamental study to get information on the position and attitude of a camera using a vibration gyroscope and accelerometer. This paper deals with various experimental results regarding the performance and experiments of this system using a vibration gyroscope and accelerometer.
After the experiment, we could obtain a basis sample by the vibration gyroscope and accerelometer used. For the application to the close range photogrammetry, this system could give the camera's position and attitude. As a result, no control point photogammetry could be made, but efficiency was remarkable.

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The video imagery gives important information to the dynamic analysis of human motion in the field of sports training or rehabilitation. For understanding the dynamics of human motion from TV or video image sequences, however, there are two complicated subjects. One is an image processing, for example, automated recognition of human's feature points such as head, elbow, knee etc.. The second is, how to estimate camera orientation parameters in the photogrammetry.
The authors analyzed the sports dynamics, e. g. Carl Lewis and Boat Rowing using TV images. In these cases, the camera orientation were achieved by utilizing special information such as goal line, course lines and buoys which marks course line. However, the camera orientation for images without any information became important subjects. If CCD camera is mounted on the theodolite, ω andκcan be acquird as a vertical and horizontal angle, and φis regarded as 0 degree because the theodolite is leveled. Furthermore, these rotation parameters can be recorded as a image data by means of superimpose. With this in mind, the authors developed the video theodolite system which consist of CCD camera, theodolite and video recorder to estimate camera rotation parameters with real time and to record image data. This paper presents the application of video theodolite system for the dynamic analysis of human motion with sequential images.

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Video image sequences often give important information about the dynamics of human motion in the field of sports, training or rehabilitation. In understanding of the dynamics of human motion from general TV or video image sequences, there are two complicated subjects. One is image processing, for example automated recognition of features on the human body, such as e.g. the head, elbows or knees. The second is how to estimate the photogrammetric camera orientation parameters on a moving camera.
This paper describes the development of a video theodolite system, consisting of a CCD camera, a theodolite and a video recorder. The system makes it possible to record image data with a moving camera and simultaneously determine the camera rotation parameters in real time.
The authors first analyzed the dynamics of the sprinter Carl Lewis and that of boat rowing by using TV images. In both these cases however, the camera orientation parameters could be determined by utilizing fixed information in the images such as the goal line and course lines in the first case, and the buoys marking the rowing course line in the second case. But often, there exist no such fixed information in the images why the authors concentrated on developing a system where the camera orientation parameters could be determined in real time while recording a moving object.
In order to measure the rotation parameters, a CCD camera was mounted on top of a theodolite.ωand κwere defined as the horizontal and vertical angles respectively, φalways being 0 degrees as the theodolite was levelled. The current values of the parameters were then superimposed continuously on the image frames and thus recorded as a part of the image data.

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Generally, a dynamic analysis of human motion has been performed under a condition that camera position and rotation are fixed and some markers are fitted on the body. Therefore, it is possible to calibrate the camera parameters in advance. Also, automated recognition of some human feature points such as the head, elbow or knees is possible. In order to understand a dynamic analysis of the most natural human motion, limitation of the camera and any marker on the body should be removed. For this ideal dynamic analysis, however, camera orientation parameters should be acquired in real time while recording a moving object. Furthermore, automated recognition of some human feature points should be performed.
The effectiveness of the video theodolite system for dynamic analysis of human motion has been indicated by the authors. This paper describes the dynamic analysis of human motion using sequential images which are taken by video theodolite. Also, image processing techniques are described.

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According to the statistics of fisheries in 1998, number of the fishing boats within 20 gross tonnages were 98% of all fishing boats in Japan, and the material which are built up of the hull were mostly FRP. The fishing boat has to perform many functions. The hull performances, such as to negotiate rough seas and economical to navigate, have to consider when make plan the hull design. In other words, lines of hull of the fishing boats are essential to understand and discuss for improving these abilities. The researches of hull form measurements have done by means of procedures, such as a level meter and pantograph. But difficulties are induced in handling these procedures, especially measuring in the shapes around stern and stem included sharp curves. The authors intend hull measuring by using laser telemeter. The purpose of this paper is to examine the accuracy of characteristics of this procedure in applying for hull form measurement.

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The ski jump is scored by judges based on flight distance, style and performance. Generally, the flight distance has to be measured by many judges (distance measurers and recorder) according the FIS (Federation Internationale de Ski) rule.
From the view point of real-time automated distance measurement in ski jump and effective utilization of a motorized video theodolite, a simulated ski jump was performed in a room by using a motorized video theodolite and an automated distance measurement method was investigated in this paper.

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Camera calibration without control points and automated orientation are being received attention for the operatinalization of digital photogrammety. Ideally, real-time camera calibration could be performed by using GPS and optical gyro. Such these equipments, however, are not widely diffuse due to the price aspect. Then, it is thinkable following two ways as a calibration method that is not depend on these equipments. One is a reducing control points by utilizing information such as distances which are included on the image. Another is a utilizing special equipment such as video theodolite.
This paper presents the above two calibration methods for real-time photogrammetry.

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In this study the system to measure three-dimensional static and dynamic deflection with 0.5mm accuracy from the distance of 50m to 150m away using a laser beam has been developed. The measuring system consists of two sets of theodolite with the launcher of a laser and the device which receives the laser. The system enables to measure the deflection along z axis as well as x and y axes. The deflection of a concrete arch dam caused by solar heat during a daytime is measured by this system, and the obtained results were discussed.

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岩盤地下空洞や斜面において崩落の危険がある箇所は, 挙動監視を必要とする場合がある. このため計測点に計測機器や標点などの設置を不必要にする安全な遠隔からの変位計測手法の開発が望まれている.
ここでは地下空洞を対象とする遠隔計測の新手法を紹介する. 計測原理は岩盤面に投影したレーザースポットを別の角度から撮影することによって形成される空間中の三角形を用いて, スポット点の3次元座標を求めるものである. この原理を応用して複数点を逐次的に計測する変位のモニタリング装置の開発を行った. さらに, トンネルで行った精度検証の結果から実用性を示した. 以上より計測が困難である 岩盤の崩壊挙動の解明が進むことが期待される.

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According to the Annual Fisheries Report of 1972, the power-driven fishing boats under 10 gross tonnage were 87%. These fishing boats are constructed by the traditional method of a ship wright in small-scale ship yards. In order to confirm the safety of these fishing boats in a seaway scientifically, the authors considered that it is necessary to get original data such as the calculations of stability and the hydro static curve of this kind of fishing boats which are based on the offset of a ship body from the measurement of its outside shell. For this purpose, the authors devised a new method in which the outside points of the shell of a ship body were measured by the use of a laser transit and calculated by the method of triangulation. In this paper, the authors give details about this method and discuss the results of the measurements and calculations on the fishing boats at Mori Port in the Southern district of Hokkaido.

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The system for learning the position of celestial bodies in science education changes from the horizontal coordinate system to the equatorial coordinate system as students progress from elementary school to high school. Therefore, science teachers must have a good understanding of these two astronomical coordinate systems and their relationship. However, in the astronomical experiments of the current teacher training course, there is no practical training to systematically and quantitatively deepen understanding of these. Therefore, we have developed a practical training method for observing astronomical objects using the horizontal coordinate system and converting the obtained horizontal coordinate values into equatorial coordinate values. Practicing this training method for students training to become teachers confirmed its effectiveness and clarified some points to consider during its implementation.

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Camera calibration without control points or automated orientation are being received attention for the operatinalzation of digital photogrammetry. With this motive, the authors has been concentrating on decreasing control points by utilizing information such as distance which are included on the imagery or utilizing special equipment such as video theodolite.
As an another approach for camera calibration without geodetic surveying, it is able to use dot pattern which are projected by dot matrix laser. This paper presents calibration method using dot matrix laser.

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It is important in the study of winds to three-dimensionally determine on site the flow of winds near the ground surface. The authors developed a system to measure the data of wind flow in both the horizontal and vertical directions utilizing photogrammetry. This system uses 4 phototheodolites, each of which is mounted with a digital camera that takes stereo photographs of soap bubbles released as tracers, thereby three-dimensionally analyzing the path of particle of each soap bubble. The experiments consisted of both primary and application experiments. The primary experiment consisted of a measurement of the three-dimensional position of targets suspended in a laboratory with a stereo photograph of the target being used. The application experiments measured the paths of particles of wind blowing in the grounds of the University campus. The results of the experiments proved that the built system was effective.

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