IMAGE PROCESSING APPARATUS AND IMAGE PROCESSING METHOD

摘要

An image processing apparatus includes an image acquisition unit acquiring a plurality of images, a corresponding point acquisition unit, a first fundamental matrix estimation unit, an epipole coordinate deriving unit, an epipole coordinate determination unit, and a fundamental matrix determination unit. The corresponding point acquisition unit acquires first corresponding points. The first fundamental matrix estimation unit calculates first fundamental matrices based on the first corresponding points. The epipole coordinate deriving unit calculates first epipole coordinates that correspond to the first fundamental matrices. The epipole coordinate determination unit determines one of the first epipole coordinates as a second epipole coordinate. The fundamental matrix determination unit determines the first fundamental matrix corresponding to the second epipole coordinate as a second fundamental matrix.

主权项

1. An image processing apparatus comprising:
an image acquisition unit configured to acquire a plurality of images; a corresponding point acquisition unit configured to acquire a plurality of first corresponding points that correspond to each other between the images; a first fundamental matrix estimation unit configured to calculate a plurality of first fundamental matrices based on the first corresponding points; an epipole coordinate deriving unit configured to calculate, for at least one image, a plurality of first epipole coordinates that respectively correspond to the first fundamental matrices; an epipole coordinate determination unit configured to determine one of the first epipole coordinates as a second epipole coordinate by using a predetermined statistical technique; and a fundamental matrix determination unit configured to determine the first fundamental matrix corresponding to the second epipole coordinate as a second fundamental matrix.