| 摘要 |
PROBLEM TO BE SOLVED: To secure robustness to movement of a recognition object and imaging means, and to reduce processing load of estimation processing of an attitude parameter.SOLUTION: An attitude parameter estimation device 1 estimates a state of a recognition object by determining a movement amount from a front frame of a state estimation feature point in an image whose image pyramid level is low. When the state of the recognition object is in a static state, the lowest level of the image pyramid is processing target level. When the state of the recognition object is in a moving state, the highest level of the image pyramid is the processing target level. |
