| 摘要 |
<p>PROBLEM TO BE SOLVED: To provide an image processing apparatus configured to improve the accuracy of estimating position attitude, while reducing the influence of motion in a moving body area, when an image includes the moving body area and a stationary area, in detecting position attitude of an object by use of image data and depth data.SOLUTION: A first processing section 200 acquires depth data to be paired with image data, divides it by depth, and estimates a change in position attitude for each depth divided. A second processing section 300 detects motion of an image from image data, and estimates the change in position attitude of an area for each motion. An image processing section 100 receives a first calculation result obtained by the first processing section 200 through an input section 103, and a second calculation result obtained by the second processing section 300 through an input section 104. A stationary area determination section 105 determines a stationary area in the image by use of the first and second calculation results. An estimation determination section 107 determines overall change in position attitude of the image from the first and second calculation results, on the basis of the determined stationary area, and stores it in a storage section 108.</p> |
