| 摘要 |
PROBLEM TO BE SOLVED: To reliably give a fast and precise position/angle estimating result in a template matching method using a coarse-to-fine method, etc. SOLUTION: Grids at the sampling intervals ofΔx in an (x)-direction,Δy in a (y)-direction andΔθin a rotating direction are considered and a reference template obtained by parallelly advancing and rotting by a quantity corresponding to each grid point and a searching picture there are matched with each other to generate a candidate for detail search. Next a parametric template space is constituted from its adjacent neighborhood at the position of each generated candidate to estimate an optimum position/angle. Next, the parametric template space is repeatedly reduced by zooming in the (x)-direction, the (y)- direction and the rotating direction with an estimated position/angle in a center to be the positional precision of a sub-pixel at last. Then a position/angle giving a maximum normalized and correlated value among the respective candidates estimated by the sub pixel is made the estimated position/angle.
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