CAMERA TRACKING DEVICE AND PROGRAM THEREFOR

摘要

PROBLEM TO BE SOLVED: To provide a camera tracking device that estimates the attitude of a camera by tracking feature points of a camera image.

SOLUTION: A camera tracking device 1 comprises: feature point detection means 31 that detects feature points from a camera image; feature point matching means 32 that performs matching of feature points by performing approximation determination with a threshold value based on distances in a feature space between the detected feature points and known feature points prestored in storage means 20, to detect corresponding points; corresponding point totalization means 33 that totalizes the number of inliers and the number of outliers; threshold value calculation means 36 that calculates a new threshold value by adding/subtracting a predetermined adjustment amount to/from the threshold value used by the feature point matching means 32 according to the number of inliers and the number of outliers; and camera attitude estimation means 40 that estimates a camera attitude based on the corresponding points.

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