| 摘要 |
PROBLEM TO BE SOLVED: To provide an image processing device, an image processing method, and an image processing program capable reducing a measurement error of a range image obtained by means of a laser range sensor while maintaining an important geometric shape. SOLUTION: When error correction in a light ray direction is carried out by using a correspondence relationship between a plurality of range images, precision of range image measurement is improved. As to a plurality of the range images, a shift amount for moving respective apexes along the light ray direction is found so that distances between the respective apexes existing on a model image and corresponding points existing on a scene image and matching the respective apexes are reduced in combination of the single model image serving a reference and the single scene image. This shift amount calculation is operated on the respective apexes by using the respective range images as the model images, and then, extension points are moved. When these processes are repeated, the measurement error of the range image can be reduced without smoothing the shape. COPYRIGHT: (C)2004,JPO&NCIPI |
