| 摘要 |
PROBLEM TO BE SOLVED: To create a mosaic image free of distortion in real time, without using information about camera position and posture, from an image derived by successively photographing, using a moving camera, a subject having so much undulations that plane assumption cannot be established.SOLUTION: A plurality of photographed images 260 contiguous in time series are inputted from a camera 130. A corrected image 320 is generated by a corresponding point detection unit 220 by correcting the lens distortion of the photographed images 260. A corresponding point which is a set of the same point between images is obtained from two of the corrected images 320 in which the same area is image-captured. A specific plane is tracked by a plane tracking unit 230, and a geometric relation between the images is estimated from only the corresponding point included in the tracked plane. The corrected image is deformed on the basis of the estimated geometric relation between the images on the tracked plane by an image update unit 240 so that the tracked plane matches, and the resulting image is superposed on a mosaic image, whereby the mosaic image is updated. |
