| 摘要 |
PROBLEM TO BE SOLVED: To improve the accuracy of a camera pose for a subject.SOLUTION: A transformation matrix estimation device includes: an image input unit which inputs a series of image data obtained by imaging a subject; a three-dimensional coordinates and camera pose acquisition unit which tracks feature points in the image data to acquire three-dimensional coordinates of the feature points in a world coordinate system and a camera pose of a camera; a template detection unit which detects, in the image data, an area similar to a plurality of template images including at least a part of the subject; a template three-dimensional position estimation unit which estimates three-dimensional coordinates of the template images on the basis of the area detected by the template detection unit and the three-dimensional coordinates of the feature points acquired by the three-dimensional coordinates and camera pose acquisition unit; a transformation matrix estimation unit which estimates a transformation matrix for transformation from the world coordinate system to a subject coordinate system on the basis of the three-dimensional coordinates of the template images; and a transformation matrix update unit which updates the transformation matrix on the basis of three-dimensional coordinates of the feature points and a camera pose, which are acquired after estimation of the transformation matrix. |
