| 摘要 |
<P>PROBLEM TO BE SOLVED: To obtain a configuration for efficiently calculating three-dimensional positions of feature points included in a photographic image based on an image obtained by a camera. Ž<P>SOLUTION: In a configuration of acquiring the three-dimensional position of feature points based on the image obtained by a camera, the three-dimensional position information of feature points in subsequent frames are acquired by:acquiring the three-dimensional position information of the feature points based on corresponding feature point analysis using only a plurality of preceding image frames in the image frame of the camera photographic image as initial information, and adopting an extended Kalman filter (EKF) corresponding to the subsequent image frame while setting the initial information as state information corresponding the initial image frame. Thus, it is required to execute the feature point extraction processing with frame matching or the like only to the preceding image frame. Therefore, it is possible to efficiently acquire the three-dimensional position information of the feature points and generate the three-dimensional image data. Ž<P>COPYRIGHT: (C)2010,JPO&INPIT Ž
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