PLANE PARAMETER ESTIMATING DEVICE, PLANE PARAMETER ESTIMATING METHOD, AND PLANE PARAMETER ESTIMATING PROGRAM

摘要

Provided is a plane parameter estimating device for stably and accurately estimating the plane parameter in a short time by using multi-eye stereoscopic images. A plane parameter estimating device comprises a pre-processing calculating unit for calculating only once parameters not varying every repetitive calculation including Hessian matrixes defined for the respective image pairs of multi-eye stereoscopic images, an image pair selecting unit for one or two image pairs according to the Hessian matrix of each image pair, a first estimating unit for performing a first estimation separately by using an SSD, as a first cost function, formulated by interchanging the roles of the basic image and the reference image of the selected image pair, and a second estimating unit for performing a second estimation by using, as the initial value, the plane parameter estimate of the first estimation which has the smaller value of the first cost function and using, as a second cost function, the SSSD which is the sum of the SSDs for multiple image pairs selected from all the image pairs so as to use the obtained estimate of the second estimation as the plane parameter. The parameters are used when repetitive calculation for the first and second estimations is performed.