Three-dimensional motion of an object determined by an image sequence of a video theodolite

To get the position and orientation of a moving object, single images of the object supplied with fixed markings are taken by a CCD camera. The camera is included in a video-theodolite to obtain a nearly unlimited field of view and to obtain the exterior orientation each time. The trajectory of the object can be determined with an image sequence. This paper describes the mathematical formulation for the determination of orientation and position of the object. The problem is based on an inverse formulation of the resection in space, as the orientation and position of the camera is known. Furthermore an image processing algorithm is described to extract and match the control points within the image. The results of a test measurement of a moving object on rails are shown together with the accuracies and measuring frequencies achieved.