| 摘要 |
<p>PROBLEM TO BE SOLVED: To provide an image processing apparatus which detects three-dimensional position/attitude of an object included in a two-dimensional image captured by a monocular camera, with high accuracy.SOLUTION: An image processing apparatus includes: a boundary extraction section 12 which extracts a boundary of an object from a two-dimensional image captured by a monocular camera 200; a radiation shape generation section 13 which connects points of the boundary and a camera center to each other, to generate a radiation shape; a sample point extraction section 15 which extracts a sample point to be a boundary of the object in the two-dimensional image, from three-dimensional data of the object projected on the two-dimensional image; and a position correction section 16 which corrects the position of the three-dimensional data so as to locate the sample point on the radiation shape. A three-dimensional radiation shape generated from the two-dimensional image and the three-dimensional data of the object are aligned, to associate the two-dimensional space and the three-dimensional space with each other. Accurate three-dimensional position/attitude of the object can be obtained from the aligned tree-dimensional data.</p> |
