P2-4-4 
+Velocity for the marker (the test model) 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, Z) and velocity for the 
marker are continuously superimposed on the image frames. 
+Rotation angles (vertical and horizontal) of the video theodolite 
are calculated using the ground coordinate of a front image and a 
moved image. 
+Rotation speed of the video theodolite is then controlled so that 
the area gravity becomes the center of the monitor using the 
moved distance. 
Figure 10 shows a monitor image while tracking the test model. 
The upper number superimposed in the left comer shows the 
ground coordinates for the area gravity of the marker (X= 
-0.4560m). The number just to the right is the Y, Z coordinates 
(7=0.0550m, Z=0.0046m) and lower number in the right comer 
shows the velocity (0.0514 m/s). 
Figure 10 Monitor image 
Table 3 shows the R.M.S.E. for check points in each sequential 
image. 
Although, necessity of increased speed for tracking and accuracy 
aspects are still issues that should be resolved. However, it is 
concluded that real-time auto-tracking and three-dimensional 
measurement techniques for moving object using the motorized 
video theodolite system fitting a stereo adapter is expected to 
become a useful method since the stereo images and camera 
rotation parameters can be acquired in real-time while tracking 
the moving object. 
REFERENCES 
Bayer, G., Krzystek, P. and Mohlenbrink. W., 1988. Realtime 
positioning of Moving Objects by Dynamic Target Tracking. 
International Archives of Photogrammetry and Remote Sensing, 
Vol.XXVft, PartB5, pp.32^13. 
Huang, Y.D. and Harley. I., 1989. A New camera calibration 
method needing no control field. Optical-3D Measurement 
Techniques, pp.49-56. 
Heck, U., 1993. 3D-motion of an object determined by an image 
sequence of a video theodolite. Optical 3-D Measurement 
Techniques II, pp.538-545. 
Chikatsu, H. and Murai. S., 1994. Utilization of a Video 
Theodolite System for Dynamic Analysis of Human Motion. 
Journal of the Japan Society of Photogrammetry and Remote 
Sensing, Vol.33, No.3, pp.77-80. 
Chikatsu, H. and et al., 1996. Dynamic Analysis of Human 
Motion using Sequential Images of Video Theodolite. 
International Archives of Photogrammetry and Remote Sensing, 
Vol.XXXI, PartB5, pp.82-87. 
Chikatsu, H., Nakano, K. and Murai. S., 1997. 
On Automated Distance Measurement of Ski Jump using a Video 
Theodolite. Optical 3-D Measurement Techniques VI, pp.383- 
390. 
Table 3 R.M.S.E. for check points 
Image 
A5 
A4 
Al 
A2 
A3 
Moving Value 
-500™" 
-250"™ 
Qinm 
±250™" 
±500 mm 
o xy 
±0.462 
±0.395 
±0.381 
±0.373 
±0.435 
(Jz 
±4.865 
±4.362 
±4.123 
±4.736 
±4.903 
Almost the same low accuracy for the Z-coordinate can be found, 
probably due to the lack of horizontal line, i.e. odd and even field 
was utilized in this paper. Furthermore, the relatively slow 4 
images acquired per second are perhaps due to the ability of the 
MET2NV. 
5 CONCLUSIONS AND FURTHER WORK 
Real-time auto-tracking and three-dimensional measurement 
method for a moving object using the motorized video theodolite 
fitting the stereo adapter has been investigated.