Image feature tracking processing method, image feature tracking processing unit, three-dimensional data creation method

摘要

PROBLEM TO BE SOLVED: To suppress the occurrence of error in three-dimensional(3D) information by surely tracking an object while verifying the suitability of tracking in the case of tracking the object within a time sequential image group. SOLUTION: Plural images provided by picking up the image of a stationary object at different plural positions with a TV camera are inputted from an image input device 1, and a surface selected from the object by an area designating means 16 is set within the image as a tracking area expressed by boundary elements and image feature amounts. An area tracking means 17 generates the candidates of the tracking area on the basis of the boundary elements inside the image, generates a deformed area from the tracking area, compares the candidates of the tracking area with the deformed area and determines the tracking area. On the basis of the position relation of a reference area with the object restored by a form restoring means 19, it is verified by a tracking evaluating means 18 whether a non-picked-up image part is included in the tracking area or not. Besides, when there is a non-picked-up image part, the cause is estimated.