| 摘要 |
PROBLEM TO BE SOLVED: To enable more accurate positioning of each distance image (point image).SOLUTION: A color image and a distance image of a point group are imaged from the same direction to detect a characteristic portion of an observation object (for example, a tire or a door mirror in a vehicle), and the distance image of the point group is aligned by using information on the detected characteristic portion, thereby accurate positioning can be performed even when there are few overlapping parts between the point groups of the respective distance images or geometric characteristics do not exist (or there are few geometric characteristics). Consequently, accuracy in positioning can be improved more. |
