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Relative angle estimation device, relative angle estimation method, and relative angle estimation program

机译:相对角度估计装置,相对角度估计方法和相对角度估计程序

摘要

PROBLEM TO BE SOLVED: To accurately estimate a relative angle between a planar subject captured in an image and a camera.SOLUTION: The relative angle estimating apparatus is configured to: store information of a plurality of reference points on a planar object appearing in a training image 40, camera parameters of a camera that photographs the training image 40, and the normal vector of the planar object appearing in the training image 40; determine corresponding points in the training image 40 and a test image 42 from local feature quantities of the training image 40 and the local feature quantities of the test image 42; estimate a projective transformation matrix for projective transformation of the training image 40 to the test image 42 from a set of corresponding points; select physically feasible solution candidates from the camera parameters and from a plurality of solution candidates when the projective transformation matrix is decomposed into a rotation and a translational motion between the training image 40 and the test image 42 and the normal vector of the planar object appearing in the test image 42; match the normal vectors of the solution candidates and the normal vector of the training image 40 using the projective transformation matrix; select one solution candidate; and calculate a relative angle between the planar object appearing in the test image 42 and the camera capturing the test image 42.SELECTED DRAWING: Figure 2
机译:解决的问题:准确地估计在图像中捕获的平面对象和照相机之间的相对角度。解决方案:相对角度估计设备被配置为:存储训练中出现的平面物体上的多个参考点的信息图像40,拍摄训练图像40的照相机的照相机参数以及出现在训练图像40中的平面物体的法线向量。从训练图像40的局部特征量和测试图像42的局部特征量中确定训练图像40和测试图像42中的对应点;从一组对应点估计用于将训练图像40投影到测试图像42的投影变换矩阵;当将投影变换矩阵分解为训练图像40和测试图像42之间的旋转和平移运动以及出现在其中的平面物体的法向矢量时,从摄像机参数和多个解算候选中选择物理上可行的解算候选。测试图像42;使用投影变换矩阵将候选解的法线向量与训练图像40的法线向量进行匹配;选择一名解决方案候选人;并计算出现在测试图像42中的平面物体与捕获测试图像42的相机之间的相对角度。选定的图:图2

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