| 摘要 |
An image processing apparatus, a feature point tracking method and a feature point tracking program, which enable efficient feature point tracking by taking the easiness of convergence of a displacement amount according to the image pattern into account in a hierarchical gradient method, are provided. A displacement calculating unit reads a hierarchical tier image with the smallest image size from each of a reference pyramid py1 and a tracking pyramid py2 in an image memory, and performs repetitive detection of a tracking point using a gradient method. Then, the displacement calculating unit repeatedly calculates the displacement amount (dxi, dyi) between the feature points obtained as a result of the repetitive detection, and outputs the value of the repetition count inumlast of tracking point detection until convergence of the displacement amount (dxi, dyi) and the value of the displacement amount (dxlast, dylast) for the point of time of convergence to a repetition criterion setting unit. The repetition criterion setting unit changes the criterion for determination of displacement amount convergence based on the repetition count inumlast and displacement amount (dxlast, dylast) input from the displacement calculating unit. The displacement calculating unit reads upper hierarchical tier images and detects a tracking point according to the convergence determination criterion set by the repetition criterion setting unit. Then, the above-described repetitive tracking point detection and convergence determination criterion setting change are repeated. Consequently, the repetition count of repetitive tracking point detection is suppressed.
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