Patent ID: 8811718

Claim:
A position measurement method comprising: an initial value calculating step for calculating initial values of exterior orientation parameters, which are a photographing position and a photographing posture in an initial image; an exterior orientation parameter-calculating step for calculating exterior orientation parameters, based on known points in a moving image which follows the initial image, or characteristic points in which three-dimensional coordinates are already calculated; an exterior orientation parameter correcting step for correcting the exterior orientation parameters calculated in the exterior orientation parameter-calculating step; a bundle-adjusting step for simultaneously adjusting a bundle of the exterior orientation parameters of one or more images and the three-dimensional coordinates of the characteristic points, based on the exterior orientation parameters corrected by the exterior orientation parameter correcting step; a three-dimensional coordinate calculating step for calculating three-dimensional coordinates of characteristic points subsequently detected in an area in which the density of the characteristic points is decreased, based on the exterior orientation parameters adjusted bundle thereof; and a repeating step for repeating processing from the exterior orientation parameter-calculating step to the three-dimensional coordinate calculating step until the image becomes a final image, wherein the exterior orientation parameter correcting step corrects the exterior orientation parameters, based on difference between photographing timing of an image and obtaining timing of a photographing position measured by a position measuring unit, wherein the exterior orientation parameters are obtained by the photographing position measured by the position measuring unit at the obtaining timing.