Extraction apparatus and three-dimensional information extraction method of feature points

摘要

PROBLEM TO BE SOLVED: To reduce the memory capacity required for the voting processing of inverted projection lines and to shorten the processing time. SOLUTION: The passing position of the inverted projection line at the specified cross section of a three-dimensional space is computed. The specified picture image among a plurality of picture images is made to be the normal picture image. The information with respect to the inverted projection line of the normal picture image is stored in a normal-inverted- projection-line-information memory part 34. Furthermore, the picture image other than the normal picture image is made to be the reference picture image. The information with regard to the inverted projection line of the reference picture image is stored in a voting information memory part 32M as the information related to voting. At the specified cross section of the three-dimensional space, the number of the inverted projection lines of the reference picture image, whose passing position is same as the inverted projection line of the above described normal picture images, is counted in a voting processing part 32. The information with regard to the inverted projection line of the normal picture image is updated in a comparison updating part 33 based on the counted value. Each processing is executed for all cross sections of the three-dimensional space under the control of a control part 35. Then, the information for the inverted projection lines is read out of the normal-inverted-projection-line- information memory part.