ints are calculated 
H, - Ho)) a. -(1) 
(Hi- Ho)) 
ation image are as 
S uou sn , 
ra positions)) and 
o (principal points), 
ctangular target in 
P, point. Similarly, 
ontrolled car) used 
  
r target 
  
car 
The relatively slow 4 images acquired per second is 
perhaps due to the ability of image processing board or 
MET2NV. Test for auto tracking and real-time positioning 
was performed while moving the radio-controlled car so 
that a locus may become "S". 
The detail procedures for the test are as follows: 
+ Window is previously cut out and color information for 
the car is extracted. 
+ Area gravity for the car are extracted using binarization 
and labeling procedure. 
4 Two dimensional ground coordinates for the area gravity 
can be calculated using the calibration parameters. Since 
the unknown rotation parameters, o and $ for sequential 
images can be obtained as the sum of changing vertical 
and horizontal values resulting in «c, and 4, for the 
orientation image respectively and parameters other than 
o and $ are considered as the same values as the 
calibration results for the orientation image. 
+ Due to the discord between the center of the theodolite 
and the lens of the CCD camera, exposure position for 
each sequential image has to be corrected to respond to 
the rotation of the video theodolite. 
Calibration 4 
  
  
  
  
  
  
     
Color imformation # 
* extraction of color 
* binarization 
+ labeling 
* area gravity 
<7 HVangle § 
(calculation of Ground Coordinates 
  
Image Processing Procedure |} 
  
  
  
  
  
  
* ground coordinates(X, Y) 
* Velocity 
Lt 
Superimpose 
  
  
  
1 
  
[ Calculation of Rotation Anges ) 
1i 
Control of Rotation Speed ] 
M 
  
  
  
  
Figure 5 Tracking Procedures 
     
       
+ Velocity for the car can be calculated using the 
differences in the moved distance and time interval of a 
front image and a moved image. 
+ The current ground coordinates (X, Y) and velocity for the 
car are continuously superimposed on the image frames. 
+ Rotation angles (vertical and horizontal) of the video 
theodolite are calculate using the ground coordinate of a 
front image and a moved image. 
+Rotation speed of the video theodolite are then controlled 
so that the area gravity becomes the center of the monitor 
using the moved distance. 
These procedures are shown in Figure 5. 
Figure 6 shows a monitor image while tracking the car. The 
left-hand number superimposed in the upper left corner 
shows the ground coordinates for the area gravity of the 
car (X« - 4.226m). The number just to the right is the Y 
coordinates (Y= - 1.545m) and the velocity (0.651 m/s). 
  
Figure 6 Monitor Image 
  
Figure 7 Locus of the radio controlled car 
737