| 摘要 |
PROBLEM TO BE SOLVED: To improve the reproducibility of feature point extraction.SOLUTION: A feature point extraction device 10 includes: a first corner determination part 11 for performing the corner determination of a pixel under consideration by an FAST(Features from Accelerated Segment Test) by referring to the first peripheral pixel group of a periphery of the pixel under consideration; a second corner determination part 12 for, only when it is determined that the pixel under consideration is a corner by the first corner determination part 11, performing the corner determination of the pixel under consideration by the FAST by referring to the second peripheral pixel group of the periphery of the pixel under consideration; a third corner determination part 13 for, only when it is determined that the pixel under consideration is a corner by the second corner determination part 12, performing the corner determination of the pixel under consideration by the FAST by referring to the third peripheral pixel group of the periphery of the pixel under consideration; and a feature point extraction part 15 for extracting only the pixel under consideration determined as a corner by any of the first to third corner determination parts as a feature point. |
