Patent ID: 7747150
Filing Date: 2010-06-29
Classification: G01C,G06T

Abstract:
1. An image processing device comprising: a photographed image acquisition section for acquiring a series of sequentially photographed images, extracted from frames of a moving image of a relatively moving object captured continuously, where four or more adjacent images have an overlapping area with each other; a feature extraction section for extracting feature points from any of the sequentially photographed images; a feature point tracking section for tracking and correlating the feature points for the series of photographed images; a stereo image selection section for selecting stereo images from the series of photographed images, the stereo images being a pair of images, and an orientation process/3D (three dimensional) measurement section for performing an orientation and a 3D measurement using corresponding feature points, the corresponding feature points being the feature points correlated in the stereo images selected by the stereo image selection section, wherein the stereo image selection section has an image group setting section for grouping images selectable as the stereo images into a group of images, and selects stereo images from the group of images determined as belonging to one group by the image group setting section, wherein the image group setting section groups the series of photographed images into a plurality of groups of images according to a distance from the object to a photographing position as a group of images with the distance being approximately constant or according to a photographing magnification as a group of images with the photographing magnification being approximately constant, to prevent unstable precision, wherein the stereo image selection section specifies, as inappropriate images, photographed images photographed while the distance from the object to the photographing position, the photographing magnification or a photographing direction is changing greatly, and excludes the specified inappropriate images when grouping the series of photographed images.