A transformation method for deriving from a photograph, position and heading of a vehicle in a plane

Equations have been derived that transform perspectively viewed planar surface coordinates, as seen in a photograph, into coordinates of the original plane surface. These transformation equations are developed in terms of nine geometric variables that define the photographic setup and are redefined in terms of eight parameters. The parameters are then treated as independent quantities that fully characterize the transformation and are expressed directly in terms of the four corner coordinates of a reference rectangle in the object plane and their coordinates as seen in a photograph. Vehicle position is determined by transforming the perspectively viewed coordinate position of a representative vehicle target into runway coordinates. Vehicle heading is determined from the runway coordinates of two vehicle target points. When the targets are elevated above the plane of the reference grid, the computation of the heading angle is unaffected; however, the computation of the target position may require adjustment of two parameters. Methods are given for adjusting the parameters for elevation and an example is included for both nonelevated and elevated target conditions.