| 
| 
| . 
| Kuroda, Kazuhiro 
  
  
  
1 0 0 0 
| , 9 1 0 0 
nelo 6 | à (2) 
—-Vx -W —Vz d 
| cosû 0 sino 0 
0 1 0 0 
Ta —sinÜ 0 cos0 0 G) 
0 0 0 1 
Equation for perspective transformation matrix, which represents perspective projection of measured 3D points onto image 
plane of video camera is given by Equation (4) . ; 
1.0.0 0 
T= AO 1 0 0 | (4) 
rough | 0 0 1 1/p 
E | 0. 0.0... 4 
lapped | Where p is perspective parameter to be calibrated. 
| 
| By combining above four equation, the coordinate of mapped measured 3D point (X p, Y p) is expressed by Equations (5) 
' com- | ; 
| and (6). 
point. 
on (1). gt (Xu — Vx) cost — (Zu — Vz) sin 0) (5) 
(Xy — Vx)sin0 4 (Zu — Vz)cos0 t p 
| 
3 Y, Vy) 
Yp= gcns (6) 
| (Xy — Vx)sin6 + (Zm — Vz) cos0 + p 
m and 
nd (3) 
Therefore, information of pixel at (Xp, Y p) in video image is attributed to respective mapped measured 3D point. 
  
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International Archives of Photogrammetry and Remote Sensing. Vol. XXXIII, Part B5. Amsterdam 2000. 469