Patent ID: 11651515

Abstract:
It is possible to determine a geometric transformation matrix representing geometric transformation between an input image and a template image with high precision. A geometric transformation matrix/inlier estimation section 32 determines a corresponding point group serving as inliers, and estimates the geometric transformation matrix representing the geometric transformation between the input image and the template image. A scatter degree estimation section 34 estimates scatter degree of the corresponding points based on the corresponding point group serving as inliers. A plane tracking convergence determination threshold calculation section 36 calculates a threshold used in convergence determination when iterative update of the geometric transformation matrix in a plane tracking section 38 is performed based on the estimated scatter degree. The plane tracking section 38 iterates update of the geometric transformation matrix so as to minimize a difference in value to pixels of a geometric transformation image obtained by transforming one of the input image and the templated image using the geometric transformation matrix and corresponding pixels until it is determined that convergence has been completed using the calculated threshold.