Patent ID: 8582887

Claim:
An image processing system, comprising: a computer processor that includes: a first feature point extraction section for extracting first feature points from a first image; a first feature amount extraction section for extracting first feature amounts from the first feature points extracted by said first feature point extraction section; a first registration section for registering the first feature amounts extracted by said first feature amount extraction section; a second feature point extraction section for extracting second feature points from a second image; a second feature amount extraction section for extracting second feature amounts from the second feature points extracted by said second feature point extraction section; a generation section for comparing the first feature amounts registered by said first registration section with the second feature amounts extracted by said second feature amount extraction section to generate candidate corresponding feature point pairs as pairs of feature points that have similar feature amounts; a selection section for selecting, from the first feature amounts, registration-use feature amounts to be registered, based on a frequency with which each of the first feature amounts is included in the candidate corresponding feature point pairs generated by said generation section, wherein the selection section divides the frequency by a total number of first images to determine a probability associated with each first feature amount and selects first feature amounts with the probability equal to or greater than a predetermined threshold; a second registration section for registering the registration-use feature amounts selected by said selection section; a third feature point extraction section for extracting third feature points from a third image; a third feature amount extraction section for extracting third feature amounts from the third feature points extracted by said third feature point extraction section; and a detection section for comparing the registration-use feature amounts registered by said second registration section with the third feature amounts extracted by said third feature amount extraction section to detect a model object contained in the third image.