| 摘要 |
PROBLEM TO BE SOLVED: To improve accuracy and speed of feature point matching between an object and a camera image without increasing calculation cost or memory consumption.SOLUTION: An image processing apparatus for associating three-dimensional coordinates of first feature points detected from images obtained by observing an object M from a plurality of directions with second feature points detected from a camera image Ica obtained by capturing the object includes: a sorter 32a which sorts local feature quantity on the basis of a predetermined sorting rule; a database 32b of probability distribution for applying three-dimensional coordinates and view point probability distribution to a result of sorting the local feature quantity; an identification part 32d which identifies correspondence between the local feature quantity of the second feature point, the three-dimensional coordinate, and the view point, on the basis of a sorting result obtained by applying the local feature quantity of the second feature point to the sorter 32a and the probability distribution; and accuracy improving means 3b which improves accuracy of correspondence between the local feature quantity of the second feature point and the three-dimensional coordinate on the basis of the correspondence between the local feature quantity of the second feature point and the view point. |
