Image processing apparatus, image processing method, and program

An image processing method, by an image processing apparatus, comprising:

• detecting stereo parallax of at least one feature point from feature point information derived from images captured by at least two cameras;
• calculating a position of the at least one feature point in three dimensional space based on the detected stereo parallax;
• estimating a travel of the cameras based on the calculated position of the at least one feature point and information of a past position of the at least one feature point;
• deciding to calibrate the cameras based on the estimated travel;
• estimating a three dimensional position of each of known objects, of which size and shape are known, included in each of images captured by a plurality of the cameras with respect to each of the cameras, based at least in part on stored feature quantities of the plurality of known objects;
• recognizing a positional relationship between the cameras on the basis of estimation accuracy with which the three dimensional position of each of the known objects is estimated and on the basis of the estimated three dimensional position of each of the known objects with respect to each of the cameras;
• and
• correcting the images captured by the cameras on the basis of the recognized positional relationship between the cameras.

A non-transitory, computer-readable medium containing instructions that, when executed by a processing device, perform an image processing method comprising:

• detecting stereo parallax of at least one feature point from feature point information derived from images captured by at least two cameras;
• calculating a position of the at least one feature point in three dimensional space based on the detected stereo parallax;
• estimating a travel of the cameras based on the calculated position of the at least one feature point and information of a past position of the at least one feature point;
• deciding to calibrate the cameras based on the estimated travel;
• estimating a three dimensional position of each of a plurality of known objects, of which size and shape are known, included in each of images captured by the cameras with respect to each of the cameras, based at least in part on stored feature quantities of the plurality of known objects;
• recognizing a positional relationship between the cameras on the basis of estimation accuracy with which the three dimensional position of each of the known objects is estimated and on the basis of the three dimensional position of each of the known objects with respect to each of the cameras;
• and
• correcting the images captured by the cameras on the basis of the recognized positional relationship between the cameras.