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Camera pose estimation device, camera pose estimation method and camera pose estimation program
Camera pose estimation device, camera pose estimation method and camera pose estimation program
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机译：相机姿势估计装置，相机姿势估计方法和相机姿势估计程序
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摘要
PROBLEM TO BE SOLVED: To accurately calculate a camera pause even in the case of including a moving object.SOLUTION: A camera pause estimation device includes means for storing three-dimensional list information obtained by associating three-dimensional coordinates of a dot in a real space, texture information belonging to the three-dimensional coordinates and a moving body flag showing whether the three-dimensional coordinates are on the moving object with a three-dimensional dot ID, three-dimensional dot associating means for associating a three-dimensional dot whose moving object flag is 0, and camera pause calculating means for outputting optimum camera pause information. The camera pause estimation device uses the optimum camera pause information to determine a reprojection point at which three-dimensional coordinates in outlier corresponding point list information is projected on a frame image, determines whether target three-dimensional coordinates are on the moving object by using the reprojection point and a motion vector calculated from corresponding point coordinates in the outlier corresponding point list information, updates a moving object flag corresponding to a three-dimensional dot ID in processing object outlier corresponding point list information to 1 and outputs the final optimum camera pause when it is determined that the three-dimensional coordinates are on the moving object.
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