IMAGE PROCESSING APPARATUS, IMAGE PROCESSING METHOD AND PROGRAM

摘要

PROBLEM TO BE SOLVED: To perform calibration processing without a specific marker or a dedicated operation relationship.SOLUTION: An image processing apparatus comprises: an image acquiring part for acquiring images from cameras provided at a mobile object; a mapping processing part for mapping feature points between images before and after straight movement of the mobile object; a height and posture estimating part for estimating the height and posture of each of the cameras provided at the mobile object by using processing result obtained by estimating a homography matrix for the mapped feature points and decomposing it, a moving direction vector common to all of the cameras, a road surface normal vector, and a movement amount of the mobile object; a projection conversion part for performing projection conversion of a common visual field part of the cameras using the posture and height thereof; and a relative position estimating part for estimating a relative position of one camera with respect to the other camera using parallel transfer such that the projection-converted common visual field parts overlap with each other.