| 摘要 |
PROBLEM TO BE SOLVED: To improve the accuracy of a moving object pose of a moving object in a frame image.SOLUTION: A moving object pose calculation apparatus includes: a specification section for calculating a motion vector indicating the motion of a moving object from a preceding time to a present time in a frame image, on the basis of pair information in which a two-dimensional coordinate of feature points of the moving object of the frame image at the present time and a three-dimensional coordinate of feature points of the moving object at the preceding time, a camera pose indicating the position and direction of a camera, and parameters indicating characteristics of the camera; a vector calculation section for calculating a Jacobian matrix J to the moving object on the basis of the motion vector, the three-dimensional coordinate of the pair information, a moving object pose indicating the position and direction of the moving object in a real space at the preceding time, and calculating a variation vector indicating variation of the a moving object pose from the preceding time to the present time from the matrix J; and a moving object pose calculation section for calculating the moving object pose of the moving object at the present time from the variation vector and the moving object pose at the preceding time. |
