| 摘要 |
PROBLEM TO BE SOLVED: To determine the correspondence of objects between viewpoints automatically by giving an evaluation value to the objects that correspond each other in the overlapped visual field region of two viewpoints being selected arbitrarily and evaluating the correspondence probability by the total. SOLUTION: In each coordinate system of two viewpoints selected arbitrarily from a plurality of viewpoints, for example, three objects (points) P1 -P3 are included in a first visual field region Vp and, for example, five objects Q1 -Q5 are included in a second visual field Vq . Then, the points P1 and Q5 are strictly overlapped and both coordinate systems are rotated and translated relatively so that the points P2 and Q4 are closest each other, thus causing seven points P1 -P3 and Q2 -Q5 to remain in an overlapped visual field region. Then, a positive evaluation value is given to the close points P1 and Q5 , P2 and Q4 , and P3 and Q2 according to the degree of closeness, and a negative evaluation value is given to the point Q3 where no points in the corresponding visual field region Vp exist. Then, a consistent correspondent between multiple viewpoints and a total evaluation value are calculated and a correspondence that gives the maximum evaluation value out of them is adopted as the most probable (correspondence). |
