Patent ID: 7925048
Filing Date: 2011-04-12
Classification: G06K

Abstract:
1. A feature point detecting device implemented by executing a program stored on a non-transitory computer readable medium, the device for estimating a three dimensional position of a plurality of feature points in an image of a predetermined object from an input image, the device comprising: a model creating module for creating a three dimensional model in which three dimensional positions of a plurality of nodes each corresponding to the plurality of feature points are defined; a projecting module for projecting each node defined by the three dimensional model onto the image; a feature value acquiring module for acquiring a feature value from a plurality of sampling points around a projection point of each node projected by the projecting module as a node feature value of each node of the three dimensional model; a storing module for storing in advance information on a correlation of a difference between a correct model, in which the plurality of nodes are each three dimensionally arranged at correct positions of the corresponding feature points, and an error model, in which at least one of the plurality of nodes is three dimensionally arranged at a position displaced from the correct position of the corresponding feature point, and the node feature value acquired from the projection point of projecting the error model onto a learning image; an error estimated amount acquiring module for acquiring an error estimated amount indicating the displacement of the position of the corresponding feature point from the three dimensional model based on the information on the correlation stored in the storing module and the node feature value of each node acquired by the feature value acquiring module; and an estimating module for estimating the three dimensional position of each feature point in the input image based on the error estimated amount obtained by the error estimated amount acquiring module and the three dimensional model.