| 摘要 |
PROBLEM TO BE SOLVED: To provide an arrangement that creates highly accurate three-dimensional data by evaluating and selecting the image most suitable for creation of three-dimensional data. SOLUTION: In order to determine whether a selected image selected from input images is an image appropriate for creation of three-dimensional data, at least either of (a) the number of estimated feature points of three-dimensional positions contained in the selected image, (b) an angle of intersection between light rays connecting the estimated three-dimensional positions of corresponding feature points contained in the selected image to the positions of feature points in each image frame, and (c) a camera model fitting error of a reference image are calculated as evaluation values; if the evaluation values meet specific requirements, a determination is made that the selected image is an image appropriate for creation of three-dimensional data, and a three-dimensional data creation process such as SFM or EKF SLAM is performed, thereby highly accurate three-dimensional data are created. COPYRIGHT: (C)2010,JPO&INPIT
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