IMAGE PROCESSING APPARATUS, IMAGE PROCESSING APPARATUS CONTROL METHOD, IMAGING DEVICE, AND PROGRAM

摘要

PROBLEM TO BE SOLVED: To improve estimation accuracy while paying attention to a stationary area and reducing the influence of motion of an object moving area at a time of estimating a position attitude change if the object moving area and the stationary area are present in an image.SOLUTION: An image processing apparatus includes: an image input unit 103 to which image data is input; and a depth image input unit 104 to which depth data paired with the image data is input. A depth division unit 106 divides the depth data according to depths, and a first estimation unit 107 estimates a position attitude change for each division depth. A grouping processing unit 108 generates groups on the basis of an estimation result of the position attitude change for each division depth. A second estimation unit 109 determines a position attitude change of an entire image on the basis of an estimation result of the position attitude change for each group and previously calculated estimation results.