| 摘要 |
PROBLEM TO BE SOLVED: To provide an image processor capable of pursuing an attitude using only a pursuing point allowing pursuing even when an arbitrary shaped object to be recognized is photographed from an arbitrary visual point.SOLUTION: An image processor comprises: an image feature DB203 for storing the image feature Fa of an object to be recognized; an image feature detection part 204a for detecting an image feature Fb from the preview image of the object to be recognized; an attitude estimation part 204c for estimating the initial attitude of the object to be recognized on the basis of the matching result of the image features Fa and Fb; a pursuing point selection part 205 for selecting a pursuing point Fe from the image feature Fa on the basis of the initial attitude; a template formation part 206a for forming the template image of the object to be recognized on the basis of the estimation result of the initial attitude; a matching part 206b for matching the template image with the preview image with respect to the pursuing point Fe; and an attitude pursuing part 206 for pursuing the attitude of the object to be recognized in the preview image on the basis of the pursuing point Fe succeeded in the matching.SELECTED DRAWING: Figure 2 |
