RELATIVE ANGLE ESTIMATING APPARATUS, RELATIVE ANGLE ESTIMATING METHOD, AND RELATIVE ANGLE ESTIMATING PROGRAM

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;COPYRIGHT: (C)2019,JPO&INPIT