Patent ID: 6028954
Filing Date: 2000-02-22
Classification: G06K,G06T,H04N

Abstract:
A method for detecting the angular deviations from a reference position of a plurality of image pick-up devices located at different positions, which devices pick-up images of the same object in a three-dimensional space, comprising:locating image points in two or said image pick-up devices which correspond to the same point on said object, the point locations being expressed as coordinates in a predefined coordinate system having x, y, and z axes, where (x,y,z) are the coordinates of the point on the object and (X.sub.L ', Y.sub.L ') and (X.sub.R ', Y.sub.R ') are the coordinates of said two image point; anddetermining the angular deviations, (.theta..sub.L, .phi..sub.L, .alpha..sub.L) and (.theta..sub.R, .phi..sub.R, .alpha..sub.R), of the two pick-up devices with respect to the x, y, and z axes from the reference position, said two image pick-up devices being positioned so that the optical axes thereof are parallel and have the same magnification, utilizing the following equation based on that, in said reference state, the coordinate values of corresponding points on the images obtained from said two image pick-up devices match on the axis perpendicular to a straight line connected between said two image pick-up devices, ##EQU25## where, ""{expression}.sub.y "" represents a y component of the expression, and""{expression}.sub.z "" represents a z component of the expression, respectively.