PHOTOGRAPHING SYSTEM, PHOTOGRAPHING METHOD, AND IMAGE PROCESSING PROGRAM

摘要

PROBLEM TO BE SOLVED: To provide a photographing system which very precisely estimates the posture of a photographing means whose posture is changeable without using feature points of a fixed object in an observation environment. SOLUTION: An initial proofreading part 31 computes an epipole and epipolar homography between cameras when initial proofreading is made. Extraction parts 21-2n extract silhouette images from images which are photographed by a camera, whose posture is to be estimated, and another camera when the posture of the camera changes. A first epipolar line computation part 32 computes the epipolar line of another camera from the silhouette image of another camera and the epipole between the cameras, and a second epipolar line computation part 33 computes the epipolar line of the camera from the epipolar line of another camera and the epipolar homograph between the cameras. A movement quantity computation part 34 finds a conversion Piin which the distance between the epipolar line of the camera and the silhouette image posterior to the movement is minimum, and a posture estimation part 35 estimates the posture of the camera from the conversion Pi. COPYRIGHT: (C)2007,JPO&INPIT