OMNIAZIMUTH IMAGE TYPE FEATURE POINT RETRIEVAL PROCESSING METHOD AND DEVICE, AND ITS PROGRAM AND RECORDING MEDIUM WITH ITS PROGRAM

摘要

PROBLEM TO BE SOLVED: To quickly retrieve feature points on time series images by narrowing down the retrieval range of the feature points.

SOLUTION: Omniazimuth images photographed by an image input device 10 are obtained by an image obtaining part 21, and the feature points of the initial image are calculated by a feature point calculating part 22, and the orbit curve on the omniazimuth pictures of the feature points is calculated by an orbit data calculating part 25 on the basis of the position/attitude information of the omniazimuth images at the time of photographing, and the retrieval range of the feature points is narrowed down to points on the calculated orbit curve, and small area sub-images in the peripheries of the points on the orbit curve as centers are extracted, and collated with sub-images including the feature points on the initial image as the start points of the retrieval so that the positions of the feature points of each time series image can be decided.

COPYRIGHT: (C)2003,JPO