Projective transformation convergence calculation method

摘要

A method for performing a convergence calculation using a projective transformation between images captured by two cameras to observe a flat part of an object in the images, wherein a computational load is reduced while securing a convergence property of the convergence calculation. Initial values (n0(i), d0(i)) are set to values satisfying a limiting condition that should be satisfied by the initial values (n0(i), d0(i)), where the limiting condition is that a plane Àa(i) defined by the initial values (n0(i), d0(i)) of given types of parameters (n(i),d(i)) of a projective transformation.matrix in the convergence calculation is inclined with respect to an actual plane including the flat part of the object to be observed.