| 摘要 |
PROBLEM TO BE SOLVED: To provide an image processing apparatus and an image processing method capable of improving estimation accuracy in the attitude estimation of an object. SOLUTION: In the case of estimating an object to be recognized, complexity (the total dimensional number of an invariant in each gradient angle on a contour) of the contour of the object to be recognized in both right and left images is calculated. Then, whether the total dimensional number of an invariant in each gradient angle in a contour on the right image is extremely close to that of a contour on the left image or not is decided, and when the total dimensional numbers of the invariants of both the right and left images are extremely close to each other, the image with higher similarity out of the right and left images is set as a reference image. When the total dimensional numbers of the invariants of both the images are somewhat different from each other, the image having the larger total dimensional number of the invariant out of the right and left images is set as a reference image. Then, the attitude of the object to be recognized is estimated by using the selected reference image. COPYRIGHT: (C)2008,JPO&INPIT
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