| 摘要 |
An image processing device includes an image acquisition unit (12) for acquiring a plurality of images; a corresponding points acquisition unit (110); a first basic matrix estimation unit (120); an epipole coordinates derivation unit (130); an epipole coordinate determination unit (140); and a basic matrix determination unit (150). The corresponding points acquisition unit (110) acquires a mutually corresponding plurality of first corresponding points between a plurality of the images. The first basic matrix estimation unit (120) calculates a plurality of first basic matrices on the basis of the plurality of first corresponding points. The epipole coordinates derivation unit (130) calculates a plurality of epipole coordinates corresponding to each of the plurality of first basic matrices. The epipole coordinate determination unit (140) determines one epipole coordinate from among the plurality of epipole coordinates as a second epipole coordinate. The basic matrix determination unit (150) determines the first basic matrix corresponding to the second epipole coordinate as a second basic matrix. |
