| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide an apparatus and a method for performing a three-dimensional measurement by applying estimation processing to the points that are corresponding to the feature points in a plurality of frame images of moving image, achieving the improvement in speed and accuracy. <P>SOLUTION: The apparatus comprises: a first tracking determination section (4B) which searches the points that are corresponding to the feature points that are extracted from each frame image of moving image, and estimates coordinate transformation-projection parameters between frames by robust estimation using a part of the corresponding points searched; and a second tracking determination section (4C) which utilizes the estimated parameters to calculate a coordinate value of estimated position of each corresponding point, calculates a residual error between the coordinate value and the predicted value for each corresponding point, and performs threshold processing to exclude as incorrect corresponding points the corresponding points having large residual errors. The apparatus excludes these incorrect corresponding points and carries out tracking of feature points again to perform the three-dimensional measurement. <P>COPYRIGHT: (C)2009,JPO&INPIT |
