| 摘要 |
PROBLEM TO BE SOLVED: To provide an information processor and an information processing method capable of performing position estimation by real time processing with a limited resource.SOLUTION: An information processor includes: an FPGA(Field-Programmable Gate Array) 20 capable of executing input processing 21 for receiving the data input of an image frame at a fixed rate, feature point detection processing 23 for detecting a plurality of feature points by parallel processing for the input image frame, and descriptor generation processing 25 for generating a plurality of descriptors each describing the features of the plurality of feature points by parallel processing at a fixed speed under control by clock units; and an MCU(Micro-Control Unit) 30 capable of executing feature point association processing 35 for obtaining a correspondence relation between the image frames for the plurality of feature points of each image frame detected and described by the FPGA 20 and bundle adjustment processing 39 for performing position estimation on the basis of the correspondence relation. |
