Automatic tracking method and surveying device
First Claim
1. An automatic tracking method, comprising a light spot detecting step of detecting a light spot from a target supported on a moving object, a step of taking a moving image of said target and said moving object, a step of tracking based on the detection of the light spot, a step of performing image tracking based on said moving image in parallel to said tracking, a step of comparing a position of the target obtained by said tracking with a position of the image obtained by said image tracking, and a step of tracking based on a result of said tracking in case where said target position and said image position are within a predetermined range.
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Abstract
The present invention provides an automatic tracking method, comprising a light spot detecting step of detecting a light spot 37 from a target 31 supported on a moving object 30, a step of taking a moving image of the target and the moving object, a step of tracking based on the detection of the light spot, a step of performing image tracking based on the moving image in parallel to the tracking, a step of comparing a position of the target obtained by the tracking with a position of the image obtained by the image tracking, and a step of tracking based on a result of the tracking in case where the target position and the image position are within a predetermined range.
50 Citations
24 Claims
- 1. An automatic tracking method, comprising a light spot detecting step of detecting a light spot from a target supported on a moving object, a step of taking a moving image of said target and said moving object, a step of tracking based on the detection of the light spot, a step of performing image tracking based on said moving image in parallel to said tracking, a step of comparing a position of the target obtained by said tracking with a position of the image obtained by said image tracking, and a step of tracking based on a result of said tracking in case where said target position and said image position are within a predetermined range.
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12. An automatic tracking method, comprising a step of taking a moving image of a target supported on a moving object and of said moving object, a target tracking step of tracking on said target based on said moving image, a moving object tracking step of tracking on said moving object based on said moving image, a tracking comparing step of comparing a target position obtained from said target tracking step with a position of the moving object obtained from said moving object tracking step, and a step of performing the tracking based on a result of said tracking step in case where said target position and said moving object position are within a predetermined range.
- 13. A surveying device, comprising a first image pickup unit for receiving and detecting a reflection light from a target supported by a moving object, a moving image pickup unit for taking moving images of said target and said moving object, a drive unit for shifting collimating direction of said first image pickup unit and said moving image pickup unit to horizontal direction and vertical direction, a light spot detection processing unit for detecting a light spot based on the image from said first image pickup unit, an image tracking processing unit for performing image processing for image tracking based on a picked-up image of said moving image pickup unit, a control arithmetic unit for controlling said drive unit so that said first image pickup unit and said moving image pickup unit are directed toward the target based on the results of processing of said light spot detection processing unit and of said image tracking processing unit, wherein said control arithmetic unit controls said drive unit so that tracking is performed based on the result of detection from said light spot detection processing unit, and so that said image tracking is performed in parallel to said tracking based on the result of processing from said image tracking processing unit.
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24. A surveying device comprising a first image pickup unit for taking a moving image of a target supported on a moving object, a moving image pickup unit for taking moving images of said target and said moving object, a drive unit for shifting collimating direction of said first image pickup unit and said moving image pickup unit to horizontal direction and to vertical direction, a target tracking image processing unit for performing tracking of said target based on an image from said first image pickup unit, a moving object image tracking processing unit for performing tracking on said moving object based on said moving image, and a control arithmetic unit for controlling said drive unit so that said first image pickup unit and said moving image pickup unit are directed toward the target based on a result of processing of said target tracking image processing unit and said moving object image processing unit, wherein said control arithmetic unit controls said drive unit so that tracking of the target is carried out based on a result of detection from said target tracking image processing unit, and so that the tracking on said moving object is carried out in parallel to said target tracking based on a result of processing from said moving object image tracking processing unit.
Specification