| 摘要 |
PROBLEM TO BE SOLVED: To calculate an accurate motion parameter with less calculation amount. SOLUTION: A reliability point calculation circuit 41 selects two prescribed points from points of a chain in an image and detects respective motion vectors of the two points. A motion parameter calculation circuit 42 obtains motion parameters representing respectively a chain translation amount (Vx, Vy), a magnification reduction factor S and a rotation amount R, as equations: (Vx, Vy)=((Vx1+Vx2)/2, (Vy1+Vy2)/2), S=((1-F)<2> +G<2> )<1/2> , and R=arctan(G/(1-F)), where (x1, y1),(x2, y2) are coordinates of two points, (Vx1, Vy1), (Vx2, Vy2) are respective motion vectors, F=(AC+BD)/E, G=(AD-BC)/E, A=Vx1-Vx2, B=Vy1-Vy2, C=x2-x1, D=y2-y1, and E=C<2> +D<2> . |
