| 摘要 |
PURPOSE:To enhance an operation speed and to reduce calculation costs by avoiding a development of useless matching based on a checking of length of an epipolar line. CONSTITUTION:Pictures 10, 20 and 30 of an object are obtained by three units of television cameras, and an object point picture of a feature point is extracted at every picture. Then an object point picture P1 of the picture 10 is specified, and epipolar lines l2 and l3 which the picture P1 produces on the pictures 20 and 30 are obtained, while two types of a length L2 and a length L3 corresponding to the l2 and l3 are calculated. The length L2 and the length L3 are compared with thresholds TH1 and TH2 of the preset effective length, and when this comparison applies to L2>=TH1 and L3>=TH2, the processing of the object point picture positioned on the lines l2 and l3 is completed. Then the entire object point of the picture 10 is sequentially specified, and a similar procedure is repeated until all object point pictures are finished. |
