RESTORATION METHOD AND DEVICE FOR FISH-EYE CAMERA MOTION AND THREE-DIMENSIONAL INFORMATION, AND RECORDING MEDIUM WITH PROGRAM FOR IMPLEMENTING IT RECORDED

摘要

PROBLEM TO BE SOLVED: To simultaneously restore motion related to a camera view point and three-dimensional information of the outside world in a manner robust against noise; and to reduce a calculation cost. SOLUTION: This restoration device comprises: a time-series database 1 with omnidirectional images stored; a characteristic point measurement part 2 for measuring a coordinate value of a characteristic point in each image; a measurement matrix conversion part 3 for converting the image coordinate value obtained by the measurement part to a uv image; a measurement matrix input part 4 for providing, as an initial value, a matrix including a uv coordinate value as a matrix element; and a factorization method processing part 5 for restoring motion of a camera and three-dimensional information of the outside world by a factorization method from the input data. The processing part 5 comprises: a three-dimensional information restoration part 5A by means of planar motion; a Z-axis motion restoration part 5B; and a rotary motion restoration part 5C. COPYRIGHT: (C)2005,JPO&NCIPI