Patent ID: 8717414

Claim:
An image matching method comprising: obtaining a depth image and an intensity image of an object using a real depth camera installed at a first position with a first viewpoint and obtaining a color image of the object using a real color camera installed at a second position with a second viewpoint other than the first viewpoint; transforming each of the obtained depth image and the intensity image into a depth image and an intensity image, respectively, that could be obtained if the object were photographed by a camera at the second position with the second viewpoint; and matching the transformed depth image and intensity image with the obtained color image, wherein the transforming of the obtained depth image and intensity image comprises: calculating the coordinates of each pixel of the image that could be obtained if the object were photographed by a camera at the second position based on a distance between the first viewpoint and the second viewpoint, corresponding to each pixel forming the obtained depth image and intensity image, by using a depth value according to the obtained depth image.