Patent ID: 9117135
Filing Date: 2015-08-25
Classification: G06K,G06T

Abstract:
1. A corresponding point searching apparatus, comprising: an image acquirer which acquires one of at least two input images as a standard image, and a rest of the input images as a reference image; a multi-resolution image generator which hierarchically generates a plurality of standard images having resolutions different from each other and a plurality of reference images having resolutions different from each other respectively from the standard image and the reference image acquired by the image acquirer; a corresponding point searching section which searches a corresponding point corresponding to a target point in a standard image of a target layer from a reference image of the target layer; an initial position setter which sets an initial search position in the reference image of the target layer, based on a corresponding point searched in a layer immediately lower than the target layer; and a search controller which causes the corresponding point searching section to sequentially search a corresponding point from a lower layer toward an upper layer, wherein the corresponding point searching section sets a predetermined search region in the reference image of the target layer by using the initial search position set in the target layer as a reference, calculates a correlation value with respect to the target point at each of positions in the set search region, determines whether plural correlation peaks appear based on the calculated correlation value, and determines plural corresponding points with use of each of the correlation peaks, in the case where the corresponding point searching section determines that plural correlation peaks appear, and in the case where the corresponding point searching section retrieves plural corresponding points, the initial position setter sets the initial search position with respect to each of the corresponding points, in the case where it is determined that plural correlation peaks appear, the corresponding point searching section calculates a ratio of a correlation value of a second correlation peak other than a first correlation peak to a correlation value of the first correlation peak at which the correlation value is largest, in the case where the second correlation peak having the ratio larger than a predetermined value is not present, the corresponding point searching section determines a corresponding point only from the first correlation peak, and in the case where the second correlation peak having the ratio larger than the predetermined value is present, the corresponding point searching section determines a corresponding point from the second correlation peak having the ratio larger than the predetermined value, and determines a corresponding point from the first correlation peak.