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International Archives of Photogrammetry and Remote Sensing. Vol. XXXII, Part 5. Hakodate 1998
AUTO-TRACKING AND POSITIONING FOR MOVING OBJECT
USING VIDEO THEODOLITE
Tsutomu KAKIUCHI, Hirofumi CHIKATSU
Department of Civil Engineering
Tokyo Denki University
Hatoyama, Saitama, 350-0394
E-mail: kaki@g.dendai.ac.jp
JAPAN
Commission V, Working Group IC V/Ill
KEY WORDS: Auto-tracking, Real-time Positioning, Image Sequence, Moving Object, Video Theodolite
ABSTRACT
The authors have been concentrating on developing a auto-tracking and real-time positioning system using a motorized
video theodolite. The most remarkable points of the video theodolite system are its ability to obtain the camera rotation
parameters and to calculate a object position in real-time while tracking a moving object.
For the further application of the video theodolite system to a monitoring system or navigation system for robot,
construction machine, traffic flow and human behavior, a test was performed using a radio-controlled car moved
irregularly on the ground.
This paper describes auto-tracking and real-time positioning techniques using the motorized video theodolite system.
1. INTRODUCTION
Auto-tracking and real-time positioning for a moving object
is particularly expected in a monitoring system or
navigation system for robot, construction machine and
ship. Bayer, et al.(1984) developed realtime positioning
system using an electronic camera mounted on a
motorized theodolite. However, a CCD camera or CMOS
camera recorded in real time has been expected to become
a useful tool in various digital photogrammetric fields.
The concept of a video theodolite using a CCD camera was
first published in Huang and Harley (1989) for automated
camera calibration. Test measurement was performed by
Heck (1993) using the video theodolite LEICA TM3000V to
get a position of a moving object.
The authors have been concentrating on developing a
video theodolite system consisting of a CCD camera, a
theodolite and a video recorder where the camera rotation
parameters can be determined in real-time while recording
a moving object. The current values of the rotation
parameters are continuously superimposed on image
frames and thus recorded as a part of the image data
(Chikatsu and et al., 1994). The effectiveness of the video
theodolite system for dynamic analysis of human motion
has been demonstrated (Chikatsu and Murai, 1995,
Chikatsu and et al., 1996) and the application of the video
theodolite system to the ski jump also has been
demonstrated (Chikatsu and et al., 1997). For the further
application of the video theodolite system to a monitoring
system or navigation system for robot, construction
machine, traffic flow and human behavior, a test was
performed using a radio-controlled car in this paper.
2. VIDEO THEODOLITE SYSTEM
Figure 1 shows the motorized video theodolite (SOKKIA,
MET2NV) used in this investigation. CCD 1, the upper one
in the figure 1, is used for precise pointing to the target
through the monitor, and CCD 2, the lower one, is used as
a finder. In order to take wide scene, CCD 2 camera was
mainly used in this paper.
Figure 1 Mortorized video theodolite
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