Patent ID: 7193636
Filing Date: 2007-03-20
Classification: G06T

Abstract:
1. An image processing device comprising: an image pick-up device mounted on a measurement object; an orientation sensor adapted to measure an orientation of said image pick-up device; a storage unit that stores calculation information to calculate an orientation of said measurement object or a position and orientation of said measurement object on the basis of a measured value output from said orientation sensor; a prediction position calculation unit that calculates a prediction position of an index in an image picked-up by said image pick-up device on the basis of the measured value; an extracting unit that sets an area of the picked-up image on the basis of the prediction position of the index, and extracts an image in the set area; a rotating unit that rotates the extracted image using a rotation angle in a roll direction, according to the measured value, of said image pick-up device, and outputs the rotated image as a target image; a detecting unit that detects a position of the index in the target image by performing a template matching process between a template image of the index and the target image; an updating unit that updates the calculation information stored in said storage unit on the basis of the detected position of the index detected by said detecting unit; and a calculation unit that calculates the orientation of said measurement object or the position and orientation of said measurement object on the basis of the measured value from said orientation sensor and said the calculation information updated by said updating unit.