| 摘要 |
PROBLEM TO BE SOLVED: To provide an image processing apparatus which can produce a high accuracy fundamental matrix while reducing the amount of computation.SOLUTION: A feature point detection unit 124 and a feature amount calculation unit 126 determine the feature point of images of N-th frame and (N+1)th frame, and a matching calculation unit 128 acquires the correspondence of these feature points. A fundamental matrix calculation unit 142 calculates a fundamental matrix based on the feature points for which correspondence is obtained. A basic matrix calculation unit 144 calculates a basic matrix based on the fundamental matrix, and a rotation/translation calculation unit 146 calculates displacement of an image pick-up unit from the N-th frame to the (N+1)th frame, based on the fundamental matrix. A correction unit 150 removes blur of an image between the N-th frame and (N+1)th frame, based on the displacement. A depth calculation unit 148 calculates the depth of the feature point based on the fundamental matrix. A matching setting unit 127 reduces the number of feature points, for obtaining correspondence in the matching calculation unit 128 based on the depth, so as to be substantially equal for each depth. |
